CN107217346A - Trailing type feedback device and the intelligent robot that doffs for the intelligent robot that doffs - Google Patents
Trailing type feedback device and the intelligent robot that doffs for the intelligent robot that doffs Download PDFInfo
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- CN107217346A CN107217346A CN201710423257.1A CN201710423257A CN107217346A CN 107217346 A CN107217346 A CN 107217346A CN 201710423257 A CN201710423257 A CN 201710423257A CN 107217346 A CN107217346 A CN 107217346A
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- Prior art keywords
- roller
- pedestal
- power transmission
- transmission shaft
- doffs
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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
- D01H9/04—Doffing arrangements integral with spinning or twisting machines
-
- 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
- D01H9/14—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 for preparing machines for doffing of yarns, e.g. raising cops prior to removal
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses the trailing type feedback device and the intelligent robot that doffs for the robot that doffed for intelligence, for improving the intelligent accuracy doffed robot progress comb and grab pipe work.The trailing type feedback device of the embodiment of the present invention, including pedestal, roller and motor, roller are located at pedestal side, and roller is provided with power transmission shaft, and power transmission shaft is rotatably connected with pedestal, and the power input shaft of motor is connected with power transmission shaft.
Description
Technical field
The present invention relates to the robot that doffs, it particularly relates to which a kind of be used for the trailing type feedback of the intelligent robot that doffs
Device and the intelligent robot that doffs.
Background technology
At present, existing intelligence doffs robot using integral frame-type structure.Intelligence is doffed the body side of robot
Provided with roller.Operationally, roller is embedded on the track of spinning frame.Now, intelligently doff robot depart from ground.Intelligence falls
Yarn robot is provided with drive mechanism, is rolled in orbit by drive mechanism driving roller, so as to realize the intelligent machine that doffs
People runs on spinning frame.When the intelligence using split-type structural doffs robot, when the track that roller is embedded in spinning frame
When upper, the walking mechanism for the robot that intelligently doffs still is contacted with ground.Now, if controlled according to the travel distance of walking mechanism
The intelligent machine that doffs of system is manually made, then when ground out-of-flatness, and the travel distance of walking mechanism is not equal to the intelligent machine that doffs
Travel distance of the people on the track of spinning frame.
The content of the invention
The present invention provides a kind of trailing type feedback device for being used for the intelligent robot that doffs and the intelligent robot that doffs, raising
Intelligence doff robot carry out comb and grab pipe work accuracy.
In order to solve the above technical problems, the embodiment of the present invention uses following technical scheme：
In a first aspect, a kind of of the embodiment of the present invention is used for the trailing type feedback device of the intelligent robot that doffs, including pedestal, rolling
Wheel and motor, roller are located at pedestal side, and roller is provided with power transmission shaft, and power transmission shaft is rotatably connected with pedestal, the power of motor
Input shaft is connected with power transmission shaft.
With reference in a first aspect, as the first possible embodiment, described is used for the trailing type of the intelligent robot that doffs
Feedback device, in addition to driver and controller, the signal input part connection of the signal output part and driver of motor, driver
Signal output part and controller signal input part connect；
The motor is used to feed back to the rotary speed information of roller in the driver, then is fed back to rotary speed information by driver
In controller；The rotary speed information that the controller processing is received, is then sent to intelligence by the rotary speed information after processing and doffs
In the driving equipment of robot, work of doffing is carried out by the intelligent robot that doffs of driving equipment driving.
With reference in a first aspect, may embodiment, the described trailing type for the intelligent robot that doffs as second
Feedback device, in addition to floating installation, roller are connected by floating installation with pedestal, and floating installation causes when roller works all the time
With the rail contact of spinning frame.
With reference in a first aspect, as the third possible embodiment, described floating installation includes floating unit and connection
Plate；The floating unit includes guide rail and sliding block, and guide rail is fixedly connected with pedestal, and sliding block is nested on guide rail, and sliding block can edge
Guide rail is moved up and down；The floating unit is two, and roller both sides are laid in respectively；Connecting plate two ends respectively with a floating unit
In sliding block be fixedly connected；The power transmission shaft connection of connecting plate and roller.
The third possible embodiment with reference to first aspect, is used as the 4th kind of possible embodiment, described floating installation
Also include stage clip, stage clip is connected in pedestal, stage clip pair roller applies pressure.
With reference to the 4th kind of possible embodiment of first aspect, as the 5th kind of possible embodiment, the stage clip, which is located at, to be passed
Above moving axis, the top of stage clip is fixed in pedestal, and bottom and the power transmission shaft of stage clip offset.
With reference to the 4th kind of possible embodiment of first aspect, the 6th kind of possible embodiment, the top of the stage clip are used as
It is fixed on pedestal, bottom and the sliding block of stage clip offset.
With reference in a first aspect, as the 7th kind of possible embodiment, bearing, the power transmission shaft of roller are provided with described pedestal
It is adapted with bearing, power transmission shaft is connected through one end of bearing by the power input shaft of shaft coupling and motor.
With reference to the 7th kind of possible embodiment of first aspect, as the 8th kind of possible embodiment, described is used for intelligence
Doffed the trailing type feedback device of robot, in addition to housing, and one end of the housing is fixedly connected with the end face of motor, housing
The other end be fixedly connected with bearing, housing covering motor power input shaft and the power transmission shaft through bearing；The connecting plate
Housing outer surface is sleeved on, and is fixedly connected with the casing.
Second aspect, the embodiment of the present invention provides a kind of intelligence and doffed robot, including body, walking mechanism, chassis and
Feedback device, body is connected by elevating mechanism with chassis, and walking mechanism is connected with chassis, and feedback device is connected with body；Institute
Stating feedback device includes pedestal, roller and motor, and roller is located at pedestal side, and roller is provided with power transmission shaft, power transmission shaft and pedestal
It is rotatably connected, the power input shaft of motor is connected with power transmission shaft, and pedestal is fixedly connected on body.
With reference to second aspect, as the first possible embodiment, the intelligence is doffed machine man-hour, and body is hung over
On the track of spinning frame, and roller is located on the track of spinning frame；Walking mechanism is contacted with ground, and walking mechanism drives body edge
Track is moved.
With reference to second aspect, as second of possible embodiment, the feedback device also includes driver and controller,
The signal input part connection of the signal output part and driver of motor, the signal output part of driver and the signal of controller are inputted
End connection；The motor is used to feed back to the rotary speed information of roller in the driver, then by driver that rotary speed information is anti-
It is fed in controller；The rotary speed information that the controller processing is received, is then sent to intelligence by the rotary speed information after processing
In the driving equipment of robot of doffing, work of doffing is carried out by the intelligent robot that doffs of driving equipment driving.
With reference to second aspect, as the third possible embodiment, the feedback device also includes floating installation, and roller leads to
Cross floating installation to be connected with pedestal, floating installation causes rail contact when roller works all the time with spinning frame.
The third possible embodiment with reference to second aspect, is used as the 4th kind of possible embodiment, described floating installation
Including floating unit and connecting plate；The floating unit includes guide rail and sliding block, and guide rail is fixedly connected with pedestal, and sliding block is nested in
On guide rail, and sliding block can be moved up and down along guide rail；The floating unit is two, and roller both sides are laid in respectively；Connecting plate two
End is fixedly connected with the sliding block in a floating unit respectively；The power transmission shaft connection of connecting plate and roller.
With reference to the 4th kind of possible embodiment of second aspect, the 5th kind of possible embodiment, described floating installation are used as
Also include stage clip, stage clip is connected in pedestal, stage clip pair roller applies pressure.
With reference to the 5th kind of possible embodiment of second aspect, as the 6th kind of possible embodiment, the stage clip, which is located at, to be passed
Above moving axis, the top of stage clip is fixed in pedestal, and bottom and the power transmission shaft of stage clip offset.
With reference to the 5th kind of possible embodiment of second aspect, the 7th kind of possible embodiment, the top of the stage clip are used as
It is fixed on pedestal, bottom and the sliding block of stage clip offset.
With reference to second aspect, as the 8th kind of possible embodiment, bearing, the power transmission shaft of roller are provided with described pedestal
It is adapted with bearing, power transmission shaft is connected through one end of bearing by the power input shaft of shaft coupling and motor.
With reference to the 8th kind of possible embodiment of second aspect, the 9th kind of possible embodiment, described feedback device are used as
Also include housing, one end of the housing is fixedly connected with the end face of motor, and the other end of housing is fixedly connected with bearing, housing
Cover the power input shaft and the power transmission shaft through bearing of motor；The connecting plate is sleeved on housing outer surface, and solid with housing
Fixed connection.
Compared with prior art, the embodiment of the present invention has the advantages that：The feedback device of the embodiment of the present invention and
Intelligently doff robot, can improve the robot that doffs and carry out comb and grab the accuracy of pipe work.The feedback of the embodiment of the present invention
Device includes pedestal, roller and motor, and the power input shaft of motor and the power transmission shaft of roller are connected.Roller speed is read using motor
Degree.Because scrolling information of the roller in spinning frame track has accurately reacted intelligent traveling of the robot on spinning frame of doffing
Information, so motor reads wheel speeds information, and then the driver for controlling intelligence to doff in robot works, so as to improve intelligence
Can be doffed robot comb and the accuracy for grabbing pipe work, improve operating efficiency.
Brief description of the drawings
Fig. 1 is the structural representation of feedback device of the embodiment of the present invention；
Fig. 2 is the structural representation of feedback device of the embodiment of the present invention；
Fig. 3 is the structural representation of feedback device of the embodiment of the present invention；
Fig. 4 is that the embodiment of the present invention is intelligently doffed the structural representation of robot.
Have in figure：Pedestal 1, roller 2, motor 3, power transmission shaft 201, floating unit 4, connecting plate 5, guide rail 401, sliding block 402,
Stage clip 6, housing 7, body 8, walking mechanism 9, chassis 10.
Embodiment
Below in conjunction with the accompanying drawings, technical scheme is described in detail.
As shown in figure 1, the trailing type feedback device of the robot that doffed for intelligence of the embodiment of the present invention, including pedestal 1,
Roller 2 and motor 3, roller 2 are located at the side of pedestal 1, and roller 2 is provided with power transmission shaft 201, and power transmission shaft 201 rotatably connects with pedestal 1
Connect, the power input shaft of motor 3 is connected with power transmission shaft 201.
The feedback device of above-described embodiment is arranged on spinning frame body.Roller 2 and intelligent doffer in feedback device
Roller on device human body is hung on the track of spinning frame simultaneously.The roller that intelligence is doffed on robot body is mainly used in undertaking
Intelligence is doffed the gravity of robot.Roller 2 in feedback device follows the roller that intelligence is doffed on robot body in spinning frame
Track on move.Motor 3 is used for the rotary speed information for reading roller 2.The rolling in orbit of roller 2, accurately shows intelligence
Can be doffed travel information of the robot on spinning frame.
For the robot that intelligently doffs, the intubation and tube drawing for the robot that intelligently doffs are, it is necessary in the reasonable of spinning frame
Carried out at position.If position is improper, the intelligent robot that doffs can not insert empty spool on the spindle blade of spinning frame, or
Empty spool can not be entirely insertable on the spindle blade of spinning frame.It is same for tube drawing.If position is improper, tube drawing efficiency is same
Sample is not good.Therefore, it is accurate to obtain intelligent advanced positions information of the robot on spinning frame of doffing, for the intelligent robot that doffs
It is very crucial.The feedback device of the present embodiment, it is therefore intended that accurate to obtain intelligent row of the robot on spinning frame that doff
Enter positional information.When the robot that intelligently doffs advances on the track of spinning frame, roller 2 connects with the track of spinning frame all the time
Touch.The rolling of roller 2 can intelligently be doffed the travel information of robot with accurate response.Power transmission shaft 201 is fixedly connected on roller 2
On.Therefore, power transmission shaft 201 and the synchronous axial system of roller 2.Because power transmission shaft 201 connects the power input shaft connection with motor 3, institute
Rotated with the power input shaft of the drive motor 3 of power transmission shaft 201.So, motor 3 can obtain the rotating speed of roller 2 in real time.It is used as one
Bearing is provided with preferred scheme, described pedestal 1, the power transmission shaft 201 of roller 2 is adapted with bearing, power transmission shaft 201 passes through bearing
One end be connected by shaft coupling with the power input shaft of motor 3.Roller 2 is connected to pedestal 1 by bearing and power transmission shaft 201
On.
Obtained by motor 3 after the rotary speed information of roller 2, using the information, comb is controlled in the intelligent robot that doffs of driving
Mechanism or the motor operation of bobbin clip work, therefore, described feedback device also includes driver and controller, motor 3
Signal output part and driver signal input part connection, the signal input part of the signal output part of driver and controller connects
Connect.The motor 3 is used to feed back to the rotary speed information of roller 2 in the driver, then is fed back rotary speed information by driver
Into controller.
The rotary speed information that the controller processing is received, is then sent to intelligent doffer by the rotary speed information after processing
In the driving equipment of device people, work of doffing is carried out by the intelligent robot that doffs of driving equipment driving.
In the preference, the information that controller is obtained comes from the information of the reading of motor 3.Because the rotating speed of roller 2 can be accurate
The travel information of the intelligent robot that doffs really is reacted, so the information that controller is read according to motor 3, can make and accurately sentence
It is disconnected, and then control the intelligent driving equipment work doffed in robot.When use Split type intelligent doffs robot, intelligently fall
When yarn robot is hung on the track of spinning frame, its walking mechanism is still contacted with ground.If the information source that controller is obtained
In walking mechanism, when Uneven road, the travel distance of walking mechanism is not equal to intelligence and doffs robot in spinning frame track
On travel distance.Therefore, the information that controller is obtained comes from the information of the reading of motor 3, can accurately control intelligent doffer
Device people works.
When use Split type intelligent doffs robot, when the robot that intelligently doffs is hung on the track of spinning frame, its row
Mechanism is walked still to contact with ground.When there is projection on road surface, the roller on robot body that intelligently doffs can depart from spinning frame track.
If the roller 2 of feedback device also departs from spinning frame track, roller 2 cannot accurately reflect the traveling of the intelligent robot that doffs
Information.Therefore, the feedback device of this preference also includes floating installation, roller 2 is connected by floating installation with pedestal 1, is floated
Device causes rail contact all the time with spinning frame when roller 2 works.By setting floating installation so that no matter ground is recessed
Fall into, or raised, the rail contact of roller 2 all the time with spinning frame.So, roller 2 can accurately reflect the intelligent robot that doffs
Travel information in spinning frame track.
As a preference, as shown in Fig. 2 floating installation includes floating unit 4 and connecting plate 5.The floating unit 4 is wrapped
Guide rail 401 and sliding block 402 are included, guide rail 401 is fixedly connected with pedestal 1, and sliding block 402 is nested on guide rail 401, and sliding block 402 can
Moved up and down along guide rail 401；The floating unit 4 is two, and the both sides of roller 2 are laid in respectively；The two ends of connecting plate 5 are respectively with one
Sliding block 402 in floating unit is fixedly connected；Connecting plate 5 is connected with the power transmission shaft 201 of roller 2.
The structure of floating installation can have a variety of, as long as can realize that roller 2 can be moved up and down.This preference
In, the power transmission shaft 201 of roller 2 is connected with connecting plate 5, and the two ends of connecting plate 5 are fixed with the sliding block 402 in a floating unit respectively to be connected
Connect.So, when roller 2, which has, moves up or down trend, sliding block 402 is moved up or down in guide rail 401, so that
Roller 2 is moved up or down.
To ensure that roller 2 is contacted with spinning frame track all the time, as shown in figure 3, described floating installation also includes stage clip 6,
Stage clip 6 is connected in pedestal 1, and the pair roller 2 of stage clip 6 applies pressure.This preference provides two kinds of concrete structures.The first structure
For：Stage clip 6 is located in pedestal 1, and stage clip 6 is located at the top of power transmission shaft 201, and the top of stage clip 6 is fixed in pedestal 1, stage clip 6
Bottom offsets with power transmission shaft 201.Second of structure be：The top of stage clip 6 is fixed on pedestal 1, the bottom of stage clip 6 and sliding block
402 offset.In the first structure, stage clip 6 can be one.Stage clip 6 is located at the top of power transmission shaft 201, directly to power transmission shaft 201
Apply pressure.In second of structure, a stage clip 6 is provided with each floating unit 4, stage clip 6 can be sleeved on guide rail 401.
One sliding block 402 of each correspondence of stage clip 6, pressure is applied to sliding block 402.
To protect each part, described feedback device also includes housing 7.One end of housing 7 is fixed with the end face of motor 3 to be connected
Connect, the other end of housing 7 is fixedly connected with bearing, the power input shaft and the power transmission shaft through bearing of the covering motor 3 of housing 7
201；The connecting plate 5 is sleeved on the outer surface of housing 7, and is fixedly connected with housing 7.By setting housing 7, it is to avoid external impurities
In the power input shaft for falling into power transmission shaft 201 or motor 3, beneficial to protection equipment.
As shown in figure 4, the embodiment of the present invention also provides a kind of intelligent doff robot, including body 8, walking mechanism 9, bottom
Disk 10 and feedback device.Body 8 is connected by elevating mechanism with chassis 10, and walking mechanism 9 is connected with chassis 10, feedback device with
Body 8 is connected.Feedback device includes pedestal 1, roller 2 and motor 3, and roller 2 is located at the side of pedestal 1, and roller 2 is provided with power transmission shaft
201, power transmission shaft 201 is rotatably connected with pedestal 1, and the power input shaft of motor 3 is connected with power transmission shaft 201, and pedestal 1 is fixedly connected
On body 8.
The intelligence of above-described embodiment artificial Split type intelligent of machine that doffs doffs robot.The machine that intelligently doffs manually is made
When, body 8 is hung on the track of spinning frame, and roller 2 is located on the track of spinning frame；Walking mechanism 9 is contacted with ground, walking
Mechanism 9 drives body 8 to be moved along track.The doff walking power source of robot of the intelligence comes from walking mechanism 9.When ground very
When smooth, the travel distance of walking mechanism 9 is equal to rolling distance of the roller 2 in spinning frame track.When ground is uneven, walking
The travel distance of mechanism 9 is more than rolling distance of the roller 2 in spinning frame track.No matter whether ground is smooth, intelligent doffer
Travel distance of the device people in spinning frame track is equal to rolling distance of the roller 2 in spinning frame track.
In the embodiment, the power input shaft of motor 3 is connected with the power transmission shaft 201 of roller 2.Motor 3 is used to read roller 2
Rotary speed information.The rolling in orbit of roller 2, accurately reflects intelligent traveling letter of the robot on spinning frame that doff
Breath.
Control rack pipe mechanism or bobbin clip work in the information read using motor 3, the intelligent robot that doffs of driving
Motor operation, therefore, described feedback device also include driver and controller, the signal output part and driver of motor 3
Signal input part connection, the signal input part of the signal output part of driver and controller connects.The motor 3 is used for will rolling
The rotary speed information of wheel 2 is fed back in the driver, then is fed back to rotary speed information in controller by driver.The controller
The rotary speed information received is handled, then the rotary speed information after processing is sent in the driving equipment of the intelligent robot that doffs,
Work of doffing is carried out by the intelligent robot that doffs of driving equipment driving.
In the preference, the information that controller is obtained comes from the information of the reading of motor 3.Because the rotating speed of roller 2 can be accurate
Really reflect the travel information of the intelligent robot that doffs, so the information that controller is read according to motor 3, can make and accurately sentence
It is disconnected, and then control the work of driver.The intelligence of the present embodiment is doffed in robot, and the robot that intelligently doffs hangs over spinning frame
When on track, its walking mechanism is still contacted with ground.If the information source that controller is obtained works as Uneven road in walking mechanism
When, the travel distance of walking mechanism is not equal to intelligent travel distance of the robot in spinning frame track that doff.Therefore, control
The information that device is obtained comes from the information of the reading of motor 3, can accurately control the intelligent machine that doffs manually to make.
For the intelligence of the present embodiment doffs robot, when the robot that intelligently doffs is hung on the track of spinning frame,
Its walking mechanism is still contacted with ground.When there is projection on road surface, roller of the robot on body that intelligently doff can depart from spun yarn
Machine track.If the roller 2 of feedback device also departs from spinning frame track, roller 2 cannot accurately reflect the intelligent machine that doffs
The travel information of people.Therefore, the feedback device of this preference also includes floating installation, roller 2 is connected by floating installation with pedestal 1
Connect, floating installation causes rail contact all the time with spinning frame when roller 2 works.By setting floating installation so that no matter
Face is to be recessed, or raised, the rail contact of roller 2 all the time with spinning frame.So, roller 2 can accurately reflect intelligence and doff
Travel information of the robot in spinning frame track.
As a preference, floating installation includes floating unit 4 and connecting plate 5.The floating unit 4 includes guide rail 401
With sliding block 402, guide rail 401 is fixedly connected with pedestal 1, and sliding block 402 is nested on guide rail 401, and sliding block 402 can be along guide rail 401
Move up and down；The floating unit 4 is two, and the both sides of roller 2 are laid in respectively；The two ends of connecting plate 5 respectively with a floating unit
In sliding block 402 be fixedly connected；Connecting plate 5 is connected with the power transmission shaft 201 of roller 2.
In this preference, the power transmission shaft 201 of roller 2 is connected with connecting plate 5, the two ends of connecting plate 5 respectively with a floating unit
In sliding block 402 be fixedly connected.So, when roller 2 is moved up or down, sliding block 402 in guide rail 401 also up or down
It is mobile.The meeting floating installation in toll goose lake, it is ensured that roller 2 can be moved up or down.
To ensure that roller 2 is contacted with spinning frame track all the time, described floating installation also includes stage clip 6, and stage clip 6 is connected to
In pedestal 1, the pair roller 2 of stage clip 6 applies pressure.This preference provides two kinds of concrete structures.The first structure is：Stage clip 6 is located at
In pedestal 1, and stage clip 6 is located at the top of power transmission shaft 201, and the top of stage clip 6 is fixed in pedestal 1, the bottom of stage clip 6 and power transmission shaft
201 offset.Second of structure be：The top of stage clip 6 is fixed on pedestal 1, and bottom and the sliding block 402 of stage clip 6 offset.First
Plant in structure, stage clip 6 can be one.Stage clip 6 is located at the top of power transmission shaft 201, directly applies pressure to power transmission shaft 201.
In two kinds of structures, a stage clip 6 is provided with each floating unit 4, stage clip 6 can be sleeved on guide rail 401.Each correspondence of stage clip 6
One sliding block 402, pressure is applied to sliding block 402.
To protect each part, described feedback device also includes housing 7.One end of housing 7 is fixed with the end face of motor 3 to be connected
Connect, the other end of housing 7 is fixedly connected with bearing, the power input shaft and the power transmission shaft through bearing of the covering motor 3 of housing 7
201；The connecting plate 5 is sleeved on the outer surface of housing 7, and is fixedly connected with housing 7.By setting housing 7, it is to avoid external impurities
In the power input shaft for falling into power transmission shaft 201 or motor 3, beneficial to protection equipment.
The intelligence of the embodiment of the present invention is doffed robot, does not use track drive mechanism, but use ground driving.
In practice, there is rough situation in ground, easily causes motor and loses fast situation, so as to influence the intelligent robot that doffs
The normal of tube-grasping device grabs pipe and is intubated being normally carried out for work.Increase after feedback device, utilize the motor 3 in feedback device
The fast function of note is realized, the speed data of the motor 3 operation after controller is handled, controls driver according to controller is passed to
Work.
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 (19)
1. a kind of be used for the trailing type feedback device of the intelligent robot that doffs, it is characterised in that including pedestal（1）, roller（2）With
Motor（3）, roller（2）Positioned at pedestal（1）Side, roller（2）It is provided with power transmission shaft（201）, power transmission shaft（201）With pedestal（1）
It is rotatably connected, motor（3）Power input shaft and power transmission shaft（201）Connection.
2. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 1, it is characterised in that also include
Driver and controller, motor（3）Signal output part and driver signal input part connection, the signal output part of driver
It is connected with the signal input part of controller；
The motor（3）For by roller（2）Rotary speed information feed back in the driver, then by driver by rotary speed information
Feed back in controller；
The rotary speed information that the controller processing is received, is then sent to the intelligent robot that doffs by the rotary speed information after processing
Driving equipment in, by the driving equipment driving intelligence robot that doffs doff work.
3. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 1, it is characterised in that also include
Floating installation, roller（2）Pass through floating installation and pedestal（1）Connection, floating installation causes roller（2）During work all the time with spun yarn
The rail contact of machine.
4. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 1, it is characterised in that described
Floating installation includes floating unit（4）And connecting plate（5）；
The floating unit（4）Including guide rail（401）And sliding block（402）, guide rail（401）With pedestal（1）It is fixedly connected, sliding block
（402）It is nested in guide rail（401）On, and sliding block（402）Can be along guide rail（401）Move up and down；
The floating unit（4）For two, roller is laid in respectively（2）Both sides；Connecting plate（5）Two ends respectively with a floating unit
In sliding block（402）It is fixedly connected；Connecting plate（5）With roller（2）Power transmission shaft（201）Connection.
5. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 4, it is characterised in that described
Floating installation also includes stage clip（6）, stage clip（6）It is connected to pedestal（1）In, stage clip（6）Pair roller（2）Apply pressure.
6. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 5, it is characterised in that the pressure
Spring（6）Positioned at power transmission shaft（201）Top, stage clip（6）Top be fixed on pedestal（1）In, stage clip（6）Bottom and power transmission shaft
（201）Offset.
7. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 5, it is characterised in that the pressure
Spring（6）Top be fixed on pedestal（1）On, stage clip（6）Bottom and sliding block（402）Offset.
8. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 1, it is characterised in that described
Pedestal（1）In be provided with bearing, roller（2）Power transmission shaft（201）It is adapted with bearing, power transmission shaft（201）Through one end of bearing
Pass through shaft coupling and motor（3）Power input shaft connection.
9. it is used for the trailing type feedback device of the intelligent robot that doffs according to described in claim 8, it is characterised in that also include
Housing（7）, the housing（7）One end and motor（3）End face be fixedly connected, housing（7）The other end and bearing fix and connect
Connect, housing（7）Cover motor（3）Power input shaft and the power transmission shaft through bearing（201）；The connecting plate（5）It is sleeved on
Housing（7）Outer surface, and and housing（7）It is fixedly connected.
The robot 10. a kind of intelligence is doffed, it is characterised in that including body（8）, walking mechanism（9）, chassis（10）With feedback dress
Put, body（8）Pass through elevating mechanism and chassis（10）Connection, walking mechanism（9）With chassis（10）Connection, feedback device and body
（8）Connection；
The feedback device includes pedestal（1）, roller（2）And motor（3）, roller（2）Positioned at pedestal（1）Side, roller（2）On
Provided with power transmission shaft（201）, power transmission shaft（201）With pedestal（1）It is rotatably connected, motor（3）Power input shaft and power transmission shaft
（201）Connection, pedestal（1）It is fixedly connected on body（8）On.
11. doffed robot according to the intelligence described in claim 10, it is characterised in that the intelligence machine that doffs manually is made
When, body（8）Hang on the track of spinning frame, and roller（2）On the track of spinning frame；Walking mechanism（9）Connect with ground
Touch, walking mechanism（9）Drive body（8）Moved along track.
12. doffed robot according to the intelligence described in claim 10, it is characterised in that the feedback device
Also include driver and controller, motor（3）Signal output part and driver signal input part connection, driver
The signal input part connection of signal output part and controller；
The motor（3）For by roller（2）Rotary speed information feed back in the driver, then by driver by rotary speed information
Feed back in controller；
The rotary speed information that the controller processing is received, is then sent to the intelligent robot that doffs by the rotary speed information after processing
Driving equipment in, by the driving equipment driving intelligence robot that doffs doff work.
13. doffed robot according to the intelligence described in claim 10, it is characterised in that the feedback device also includes the dress that floats
Put, roller（2）Pass through floating installation and pedestal（1）Connection, floating installation causes roller（2）Rail during work all the time with spinning frame
Road is contacted.
14. doffed robot according to the intelligence described in claim 13, it is characterised in that described floating installation includes floating single
Member（4）And connecting plate（5）；
The floating unit（4）Including guide rail（401）And sliding block（402）, guide rail（401）With pedestal（1）It is fixedly connected, sliding block
（402）It is nested in guide rail（401）On, and sliding block（402）Can be along guide rail（401）Move up and down；
The floating unit（4）For two, roller is laid in respectively（2）Both sides；Connecting plate（5）Two ends respectively with a floating unit
In sliding block（402）It is fixedly connected；Connecting plate（5）With roller（2）Power transmission shaft（201）Connection.
15. doffed robot according to the intelligence described in claim 14, it is characterised in that described floating installation also includes stage clip
（6）, stage clip（6）It is connected to pedestal（1）In, stage clip（6）Pair roller（2）Apply pressure.
16. doffed robot according to the intelligence described in claim 15, it is characterised in that the stage clip（6）Positioned at power transmission shaft
（201）Top, stage clip（6）Top be fixed on pedestal（1）In, stage clip（6）Bottom and power transmission shaft（201）Offset.
17. doffed robot according to the intelligence described in claim 15, it is characterised in that the stage clip（6）Top be fixed on
Pedestal（1）On, stage clip（6）Bottom and sliding block（402）Offset.
18. doffed robot according to the intelligence described in claim 10, it is characterised in that described pedestal（1）In be provided with bearing,
Roller（2）Power transmission shaft（201）It is adapted with bearing, power transmission shaft（201）One end through bearing passes through shaft coupling and motor（3）
Power input shaft connection.
19. doffed robot according to the intelligence described in claim 18, it is characterised in that described feedback device also includes housing
（7）, the housing（7）One end and motor（3）End face be fixedly connected, housing（7）The other end be fixedly connected with bearing, shell
Body（7）Cover motor（3）Power input shaft and the power transmission shaft through bearing（201）；The connecting plate（5）It is sleeved on housing
（7）Outer surface, and and housing（7）It is fixedly connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710423257.1A CN107217346B (en) | 2017-06-07 | 2017-06-07 | Trailing type feedback device and the intelligent robot that doffs for the intelligent robot that doffs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710423257.1A CN107217346B (en) | 2017-06-07 | 2017-06-07 | Trailing type feedback device and the intelligent robot that doffs for the intelligent robot that doffs |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107217346A true CN107217346A (en) | 2017-09-29 |
| CN107217346B CN107217346B (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710423257.1A Active CN107217346B (en) | 2017-06-07 | 2017-06-07 | Trailing type feedback device and the intelligent robot that doffs for the intelligent robot that doffs |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109837622A (en) * | 2017-11-24 | 2019-06-04 | 铜陵松宝智能装备股份有限公司 | A kind of monitoring device and control method for the intelligent robot that doffs |
| CN110106589A (en) * | 2019-05-10 | 2019-08-09 | 青岛艾菲特纺织电气有限责任公司 | The adaptive hoofing part wheel apparatus of doffing cart and its application method |
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| CN202226996U (en) * | 2011-09-15 | 2012-05-23 | 侯国阳 | Positioning mechanism for automatic doffing device |
| CN202337855U (en) * | 2011-11-04 | 2012-07-18 | 侯国阳 | Doffing cart for bearing automatic doffing device and moving at equal interval |
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| JPH11269728A (en) * | 1998-03-20 | 1999-10-05 | Murata Mach Ltd | Work vehicle of spinning machine |
| CN102414353A (en) * | 2009-11-04 | 2012-04-11 | 铜陵市松宝机械有限公司 | Automatic doffer for ring spinning machine |
| CN202226996U (en) * | 2011-09-15 | 2012-05-23 | 侯国阳 | Positioning mechanism for automatic doffing device |
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| CN109837622A (en) * | 2017-11-24 | 2019-06-04 | 铜陵松宝智能装备股份有限公司 | A kind of monitoring device and control method for the intelligent robot that doffs |
| CN110106589A (en) * | 2019-05-10 | 2019-08-09 | 青岛艾菲特纺织电气有限责任公司 | The adaptive hoofing part wheel apparatus of doffing cart and its application method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107217346B (en) | 2019-09-27 |
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