CN107217346B - 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
- Publication number
- CN107217346B CN107217346B CN201710423257.1A CN201710423257A CN107217346B CN 107217346 B CN107217346 B CN 107217346B CN 201710423257 A CN201710423257 A CN 201710423257A CN 107217346 B CN107217346 B CN 107217346B
- Authority
- CN
- China
- Prior art keywords
- idler wheel
- doffs
- pedestal
- transmission shaft
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Textile Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses doffing the trailing type feedback device of robot for intelligence and intelligence is doffed robot, carries out comb for improving the intelligence robot that doffs and grab the accuracy of pipe work.The trailing type feedback device of the embodiment of the present invention, including pedestal, idler wheel and motor, idler wheel are located at pedestal side, and idler wheel is equipped with transmission shaft, and transmission shaft is rotatably connected with pedestal, the power input shaft and transmission axis connection of motor.
Description
Technical field
The present invention relates to the robots that doffs, it particularly relates to a kind of trailing type feedback for the intelligent robot that doffs
Device and the intelligent robot that doffs.
Background technique
Currently, existing intelligence is doffed, robot uses integral frame-type structure.Intelligence is doffed the body side of robot
Equipped with idler wheel.At work, by idler wheel on the track of spinning frame.At this point, intelligence is doffed, robot is detached from ground.Intelligence is fallen
Yarn robot is equipped with driving mechanism, rolls in orbit by driving mechanism driving idler wheel, to realize the intelligent machine that doffs
People runs on spinning frame.When the intelligence adopted a split structure doffs robot, when the track that idler wheel is embedded in spinning frame
When upper, the walking mechanism for the robot that intelligently doffs still with ground face contact.At this point, if being controlled according to the travel distance of walking mechanism
The intelligent machine that doffs of system is manually made, then the travel distance of walking mechanism is not equal to the intelligent machine that doffs when ground out-of-flatness
Travel distance of the people on the track of spinning frame.
Summary of the invention
The present invention provides a kind of trailing type feedback device for the intelligent robot that doffs and the intelligent robot that doffs, and improves
Intelligence doff robot carry out comb and grab pipe work accuracy.
In order to solve the above technical problems, the following technical solution is employed for the embodiment of the present invention:
In a first aspect, a kind of trailing type feedback device for the intelligent robot that doffs of the embodiment of the present invention, including base
Seat, idler wheel and motor, idler wheel are located at pedestal side, and idler wheel is equipped with transmission shaft, and transmission shaft is rotatably connected with pedestal, motor
Power input shaft and transmission axis connection.
With reference to first aspect, as the first possible embodiment, the trailing type for the intelligent robot that doffs
Feedback device further includes driver and controller, and the signal output end of motor is connected with the signal input part of driver, driver
Signal output end and controller signal input part connect；
The motor is used to feed back to the rotary speed information of idler wheel in the driver, then by driver that rotary speed information is anti-
It is fed in controller；The controller handles the rotary speed information received, and then by treated, rotary speed information is sent to intelligence
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 first aspect, as second of possible embodiment, the trailing type for the intelligent robot that doffs
Feedback device, further includes floating installation, and idler wheel is connect by floating installation with pedestal, when floating installation makes the idler wheel to work always
With the rail contact of spinning frame.
With reference to first aspect, as the third possible embodiment, the 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 moves up and down；The floating unit is two, is laid in idler wheel two sides respectively；Connect board ends respectively with a floating unit
In sliding block be fixedly connected；The transmission axis connection of connecting plate and idler wheel.
The third possible embodiment with reference to first aspect, as the 4th kind of possible embodiment, the floating installation
It further include pressure spring, pressure spring is connected in pedestal, and pressure spring applies pressure to idler wheel.
4th kind of possible embodiment with reference to first aspect, as the 5th kind of possible embodiment, the pressure spring, which is located at, to be passed
Above moving axis, the top of pressure spring is fixed in pedestal, and lower part and the transmission shaft of pressure spring offset.
4th kind of possible embodiment with reference to first aspect, as the 6th kind of possible embodiment, the top of the pressure spring
It fixes on the base, lower part and the sliding block of pressure spring offset.
With reference to first aspect, as the 7th kind of possible embodiment, bearing, the transmission shaft of idler wheel are equipped in the pedestal
It is adapted with bearing, one end that transmission shaft passes through bearing is connected by the power input shaft of shaft coupling and motor.
7th kind of possible embodiment with reference to first aspect, as the 8th kind of possible embodiment, described is used for intelligence
Doff the trailing type feedback device of robot, further includes shell, one end of the shell is fixedly connected with the end face of motor, shell
The other end be fixedly connected with bearing, the power input shaft and transmission shaft across bearing that shell covers motor；The connecting plate
It is sleeved on housing outer surface, and is fixedly connected with the casing.
Second aspect, the embodiment of the present invention provide a kind of intelligence and doff robot, including ontology, walking mechanism, chassis and
Feedback device, ontology are connect by elevating mechanism with chassis, and walking mechanism is connect with chassis, and feedback device is connect with ontology；Institute
Stating feedback device includes pedestal, idler wheel and motor, and idler wheel is located at pedestal side, and idler wheel is equipped with transmission shaft, transmission shaft and pedestal
It is rotatably connected, the power input shaft and transmission axis connection, pedestal of motor are fixedly connected on the body.
In conjunction with second aspect, as the first possible embodiment, the intelligence is doffed machine man-hour, and ontology is hung over
On the track of spinning frame, and idler wheel is located on the track of spinning frame；Walking mechanism and ground face contact, walking mechanism drive ontology edge
Track is mobile.
In conjunction with second aspect, as second of possible embodiment, the feedback device further includes driver and controller,
The signal output end of motor is connected with the signal input part of driver, and the signal output end of driver and the signal of controller input
End connection；The motor is used to feed back to the rotary speed information of idler wheel in the driver, then by driver that rotary speed information is anti-
It is fed in controller；The controller handles the rotary speed information received, and then by treated, rotary speed information is sent to intelligence
In the driving equipment of robot of doffing, work of doffing is carried out by the intelligent robot that doffs of driving equipment driving.
In conjunction with second aspect, as the third possible embodiment, the feedback device further includes floating installation, and idler wheel is logical
Floating installation is crossed to connect with pedestal, when floating installation makes the idler wheel to work always with the rail contact of spinning frame.
In conjunction with the third possible embodiment of second aspect, as the 4th kind of possible embodiment, the 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, is laid in idler wheel two sides respectively；Connecting plate two
End is fixedly connected with the sliding block in a floating unit respectively；The transmission axis connection of connecting plate and idler wheel.
In conjunction with the 4th kind of possible embodiment of second aspect, as the 5th kind of possible embodiment, the floating installation
It further include pressure spring, pressure spring is connected in pedestal, and pressure spring applies pressure to idler wheel.
In conjunction with the 5th kind of possible embodiment of second aspect, as the 6th kind of possible embodiment, the pressure spring, which is located at, to be passed
Above moving axis, the top of pressure spring is fixed in pedestal, and lower part and the transmission shaft of pressure spring offset.
In conjunction with the 5th kind of possible embodiment of second aspect, as the 7th kind of possible embodiment, the top of the pressure spring
It fixes on the base, lower part and the sliding block of pressure spring offset.
In conjunction with second aspect, as the 8th kind of possible embodiment, bearing, the transmission shaft of idler wheel are equipped in the pedestal
It is adapted with bearing, one end that transmission shaft passes through bearing is connected by the power input shaft of shaft coupling and motor.
In conjunction with the 8th kind of possible embodiment of second aspect, as the 9th kind of possible embodiment, the feedback device
It further include shell, one end of the shell is fixedly connected with the end face of motor, and the other end of shell is fixedly connected with bearing, shell
Cover the power input shaft of motor and the transmission shaft across bearing；The connecting plate is sleeved on housing outer surface, and solid with shell
Fixed connection.
Compared with prior art, the embodiment of the present invention have the advantages that the embodiment of the present invention feedback device and
Intelligently doff robot, and the robot that doffs can be improved and carry out comb and grab the accuracy of pipe work.The feedback of the embodiment of the present invention
Device includes pedestal, idler wheel and motor, the power input shaft of motor and the transmission axis connection of idler wheel.Idler wheel speed is read using motor
Degree.Since scrolling information of the idler wheel 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 controls the driver work that intelligence is doffed in robot, to improve intelligence
Can doff robot comb and the accuracy for grabbing pipe work, improve working efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of feedback device of the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of feedback device of the embodiment of the present invention；
Fig. 3 is the structural schematic diagram 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 schematic diagram of robot.
Have in figure: pedestal 1, idler wheel 2, motor 3, transmission shaft 201, floating unit 4, connecting plate 5, guide rail 401, sliding block 402,
Pressure spring 6, shell 7, ontology 8, walking mechanism 9, chassis 10.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is described in detail.
As shown in Figure 1, the trailing type feedback device for the intelligent robot that doffs of the embodiment of the present invention, including pedestal 1,
Idler wheel 2 and motor 3, idler wheel 2 are located at 1 side of pedestal, and idler wheel 2 is equipped with transmission shaft 201, and transmission shaft 201 rotatably connects with pedestal 1
It connects, the power input shaft of motor 3 is connect with transmission shaft 201.
The feedback device of above-described embodiment is mounted on spinning frame ontology.Idler wheel 2 and intelligent doffer in feedback device
Idler wheel on device human body is hung on the track of spinning frame simultaneously.The idler wheel that intelligence is doffed on robot body is mainly used for undertaking
Intelligence is doffed the gravity of robot.The idler wheel that idler wheel 2 in feedback device follows intelligence to doff on robot body is in spinning frame
Track on move.Motor 3 is used to read the rotary speed information of idler wheel 2.The rolling in orbit of idler wheel 2, accurately shows intelligence
Can doff travel information of the robot on spinning frame.
For the robot that intelligently doffs, the intubation and tube drawing of the robot that intelligently doffs are needed in the reasonable of spinning frame
It is carried out at position.If position is improper, empty spool can not be inserted on the spindle blade of spinning frame by the intelligent robot that doffs, 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 bad.Therefore, 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
Into location information.When the robot that intelligently doffs advances on the track of spinning frame, idler wheel 2 connects with the track of spinning frame always
Touching.The rolling of idler wheel 2 can accurately respond the travel information of the intelligent robot that doffs.Transmission shaft 201 is fixedly connected on idler wheel 2
On.Therefore, transmission shaft 201 and idler wheel 2 rotate synchronously.It is connected since transmission shaft 201 is connected with the power input shaft of motor 3, institute
The power input shaft rotation of motor 3 is driven with transmission shaft 201.In this way, motor 3 can obtain the revolving speed of idler wheel 2 in real time.As one
Preferred embodiment is equipped with bearing in the pedestal 1, and the transmission shaft 201 of idler wheel 2 is adapted with bearing, and transmission shaft 201 is across bearing
One end connect with the power input shaft of motor 3 by shaft coupling.Idler wheel 2 is connected to pedestal 1 by bearing and transmission shaft 201
On.
After obtaining 2 rotary speed information of idler wheel by motor 3, using the information, comb is controlled in the intelligent robot that doffs of driving
Mechanism or the motor operation of bobbin clip work, for this purpose, the feedback device further includes driver and controller, motor 3
Signal output end connected with the signal input part of driver, the signal input part of the signal output end of driver and controller connects
It connects.The motor 3 is used to feed back to the rotary speed information of idler wheel 2 in the driver, then is fed back rotary speed information by driver
Into controller.
The controller handles the rotary speed information received, and then by treated, rotary speed information is sent to intelligent doffer
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 obtains is derived from the information that motor 3 is read.Since the revolving speed of idler wheel 2 can be quasi-
The really travel information of the intelligent robot that doffs of reaction, so the information that controller is read according to motor 3, can make and accurately sentence
It is disconnected, and then control the driving equipment work that intelligence is doffed in robot.When use Split type intelligent doffs robot, intelligently fall
When yarn robot hangs on the track of spinning frame, walking mechanism still with ground face contact.If the information source that controller obtains
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 obtains is derived from the information that motor 3 is read, and can accurately control intelligent doffer
Device is manually made.
When use Split type intelligent doffs robot, when the robot that intelligently doffs hangs on the track of spinning frame, row
Walk mechanism still with ground face contact.When there is protrusion on road surface, the idler wheel on robot body that intelligently doffs can be detached from spinning frame track.
If the idler wheel 2 of feedback device is also detached from spinning frame track, idler wheel 2 cannot accurately reflect the traveling of the intelligent robot that doffs
Information.For this purpose, the feedback device of this preference further includes floating installation, idler wheel 2 is connect by floating installation with pedestal 1, is floated
Device make idler wheel 2 work when always with the rail contact of spinning frame.By the way that floating installation is arranged, so that no matter ground is recessed
Fall into, or protrusion, idler wheel 2 always with the rail contact of spinning frame.In this way, idler wheel 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 wraps
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
It is moved up and down along guide rail 401；The floating unit 4 is two, is laid in 2 two sides of idler wheel respectively；5 both ends of connecting plate are respectively with one
Sliding block 402 in floating unit is fixedly connected；Connecting plate 5 is connect with the transmission shaft 201 of idler wheel 2.
The structure of floating installation can there are many, as long as can be realized idler wheel 2 can move up and down.This preference
In, the transmission shaft 201 of idler wheel 2 is connect with connecting plate 5, and 5 both ends of connecting plate are fixed with the sliding block 402 in a floating unit respectively to be connected
It connects.In this way, when idler wheel 2 has, when moving up or down trend, sliding block 402 moves up or down in guide rail 401, thus
Idler wheel 2 is moved up or down.
To ensure that idler wheel 2 is contacted with spinning frame track always, as shown in figure 3, the floating installation further includes pressure spring 6,
Pressure spring 6 is connected in pedestal 1, and pressure spring 6 applies pressure to idler wheel 2.This preference provides two kinds of specific structures.The first structure
Are as follows: pressure spring 6 is located in pedestal 1, and pressure spring 6 is located at 201 top of transmission shaft, and the top of pressure spring 6 is fixed in pedestal 1, pressure spring 6
Lower part offsets with transmission shaft 201.Second of structure are as follows: the top of pressure spring 6 is fixed on pedestal 1, the lower part of pressure spring 6 and sliding block
402 offset.In the first structure, pressure spring 6 can be one.Pressure spring 6 is located at 201 top of transmission shaft, directly to transmission shaft 201
Apply pressure.In second of structure, a pressure spring 6 is equipped in each floating unit 4, pressure spring 6 can be sleeved on guide rail 401.
The corresponding sliding block 402 of each pressure spring 6, applies pressure to sliding block 402.
To protect each component, the feedback device further includes shell 7.The fixed company in one end of shell 7 and the end face of motor 3
It connects, the other end of shell 7 is fixedly connected with bearing, and shell 7 covers the power input shaft of motor 3 and the transmission shaft across bearing
201；The connecting plate 5 is sleeved on 7 outer surface of shell, and is fixedly connected with shell 7.By the way that shell 7 is arranged, external impurities are avoided
It falls into the power input shaft of transmission shaft 201 or motor 3, is conducive to protection equipment.
It doffs robot, including ontology 8, walking mechanism 9, bottom as shown in figure 4, the embodiment of the present invention also provides a kind of intelligence
Disk 10 and feedback device.Ontology 8 is connect by elevating mechanism with chassis 10, and walking mechanism 9 is connect with chassis 10, feedback device and
Ontology 8 connects.Feedback device includes pedestal 1, idler wheel 2 and motor 3, and idler wheel 2 is located at 1 side of pedestal, and idler wheel 2 is equipped with transmission shaft
201, transmission shaft 201 is rotatably connected with pedestal 1, and the power input shaft of motor 3 is connect with transmission shaft 201, and pedestal 1 is fixedly connected
On ontology 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, ontology 8 is hung on the track of spinning frame, and idler wheel 2 is located on the track of spinning frame；Walking mechanism 9 and ground face contact, walking
Mechanism 9 drives ontology 8 to move along track.The intelligence doff robot walking power source derived from walking mechanism 9.When ground very
When smooth, the travel distance of walking mechanism 9 is equal to rolling distance of the idler wheel 2 in spinning frame track.When ground injustice, walking
The travel distance of mechanism 9 is greater than rolling distance of the idler wheel 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 idler wheel 2 in spinning frame track.
In the embodiment, the power input shaft of motor 3 is connect with the transmission shaft 201 of idler wheel 2.Motor 3 is for reading idler wheel 2
Rotary speed information.The rolling in orbit of idler wheel 2 accurately reflects intelligent traveling letter of the robot on spinning frame that doff
Breath.
The information read using motor 3 is driven and controls rack pipe mechanism or bobbin clip work in the intelligent robot that doffs
Motor operation, for this purpose, the feedback device further includes driver and controller, the signal output end and driver of motor 3
Signal input part connection, the signal input part of the signal output end of driver and controller connects.The motor 3 will be for that will roll
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 by treated, rotary speed information 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 obtains is derived from the information that motor 3 is read.Since the revolving speed of idler wheel 2 can be quasi-
The really travel information of the intelligent robot that doffs of reflection, 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, walking mechanism still with ground face contact.If the information that controller obtains derives from walking mechanism, work as Uneven road
When, the travel distance of walking mechanism is not equal to intelligent travel distance of the robot in spinning frame track that doff.Therefore, it controls
The information that device obtains is derived from the information that motor 3 is read, and can accurately control the intelligent machine that doffs and manually make.
For the intelligence of the present embodiment doffs robot, when the robot that intelligently doffs hangs on the track of spinning frame,
Its walking mechanism still with ground face contact.When there is protrusion on road surface, the idler wheel of robot on the body that intelligently doffs can be detached from spun yarn
Machine track.If the idler wheel 2 of feedback device is also detached from spinning frame track, idler wheel 2 cannot accurately reflect the intelligent machine that doffs
The travel information of people.For this purpose, the feedback device of this preference further includes floating installation, idler wheel 2 is connected by floating installation and pedestal 1
Connect, floating installation make idler wheel 2 work when always with the rail contact of spinning frame.By the way that floating installation is arranged, so that no matter
Face be recess, or protrusion, idler wheel 2 always with the rail contact of spinning frame.It doffs in this way, idler wheel 2 can accurately reflect intelligence
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
It moves up and down；The floating unit 4 is two, is laid in 2 two sides of idler wheel respectively；5 both ends of connecting plate respectively with a floating unit
In sliding block 402 be fixedly connected；Connecting plate 5 is connect with the transmission shaft 201 of idler wheel 2.
In this preference, the transmission shaft 201 of idler wheel 2 is connect with connecting plate 5,5 both ends of connecting plate respectively with a floating unit
In sliding block 402 be fixedly connected.In this way, when idler wheel 2 moves up or down, sliding block 402 in guide rail 401 also upward or downward
It is mobile.The meeting floating installation in toll goose lake, it is ensured that idler wheel 2 can move up or down.
To ensure that idler wheel 2 is contacted with spinning frame track always, the floating installation further includes pressure spring 6, and pressure spring 6 is connected to
In pedestal 1, pressure spring 6 applies pressure to idler wheel 2.This preference provides two kinds of specific structures.The first structure are as follows: pressure spring 6 is located at
In pedestal 1, and pressure spring 6 is located at 201 top of transmission shaft, and the top of pressure spring 6 is fixed in pedestal 1, the lower part of pressure spring 6 and transmission shaft
201 offset.Second of structure are as follows: the top of pressure spring 6 is fixed on pedestal 1, and lower part and the sliding block 402 of pressure spring 6 offset.First
In kind structure, pressure spring 6 can be one.Pressure spring 6 is located at 201 top of transmission shaft, directly applies pressure to transmission shaft 201.?
In two kinds of structures, a pressure spring 6 is equipped in each floating unit 4, pressure spring 6 can be sleeved on guide rail 401.Each pressure spring 6 is corresponding
One sliding block 402 applies pressure to sliding block 402.
To protect each component, the feedback device further includes shell 7.The fixed company in one end of shell 7 and the end face of motor 3
It connects, the other end of shell 7 is fixedly connected with bearing, and shell 7 covers the power input shaft of motor 3 and the transmission shaft across bearing
201；The connecting plate 5 is sleeved on 7 outer surface of shell, and is fixedly connected with shell 7.By the way that shell 7 is arranged, external impurities are avoided
It falls into the power input shaft of transmission shaft 201 or motor 3, is conducive to protection equipment.
The intelligence of the embodiment of the present invention is doffed robot, does not use track drive mechanism, but ground is used to drive.?
In practice, ground there is a situation where uneven, and motor is be easy to cause to lose fast situation, doff robot to influence intelligence
The normal of tube-grasping device grabs pipe and is intubated being normally carried out for work.After increasing feedback device, the motor 3 in feedback device is utilized
It realizes and remembers fast function, the speed data of the motor 3 operation after controller is handled, controls driver according to controller is passed to
Work.
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 (19)
1. a kind of doff the trailing type feedback device of robot for intelligence, which is characterized in that including pedestal (1), idler wheel (2) and
Motor (3), idler wheel (2) are located at pedestal (1) side, and idler wheel (2) is equipped with transmission shaft (201), transmission shaft (201) and pedestal (1)
It is rotatably connected, the power input shaft of motor (3) is connect with transmission shaft (201)；The motor (3) for obtaining idler wheel in real time
(2) revolving speed.
2. the trailing type feedback device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that further include
The signal output end of driver and controller, motor (3) is connected with the signal input part of driver, the signal output end of driver
It is connect with the signal input part of controller；The motor (3) is used to the rotary speed information of idler wheel (2) feeding back to the driver
In, then by driver fed back to rotary speed information in controller；
The controller handles the rotary speed information received, and then by treated, rotary speed information is sent to the intelligent robot that doffs
Driving equipment in, work of doffing is carried out by the driving equipment driving intelligence robot that doffs.
3. the trailing type feedback device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that further include
Floating installation, idler wheel (2) are connect by floating installation with pedestal (1), when floating installation makes idler wheel (2) work always with spun yarn
The rail contact of machine.
4. the trailing type feedback device described in accordance with the claim 3 for the intelligent robot that doffs, which is characterized in that described
Floating installation includes floating unit (4) and connecting plate (5)；
The floating unit (4) includes guide rail (401) and sliding block (402), and guide rail (401) is fixedly connected with pedestal (1), sliding block
(402) it is nested on guide rail (401), and sliding block (402) can be moved up and down along guide rail (401)；
The floating unit (4) is two, is laid in idler wheel (2) two sides respectively；Connecting plate (5) both ends respectively with a floating unit
In sliding block (402) be fixedly connected；Connecting plate (5) is connect with the transmission shaft (201) of idler wheel (2).
5. the trailing type feedback device for the intelligent robot that doffs according to claim 4, which is characterized in that described
Floating installation further includes pressure spring (6), and pressure spring (6) is connected in pedestal (1), and pressure spring (6) applies pressure to idler wheel (2).
6. the trailing type feedback device for the intelligent robot that doffs according to claim 5, which is characterized in that the pressure
Spring (6) is located above transmission shaft (201), and the top of pressure spring (6) is fixed in pedestal (1), the lower part of pressure spring (6) and transmission shaft
(201) it offsets.
7. the trailing type feedback device for the intelligent robot that doffs according to claim 5, which is characterized in that the pressure
The top of spring (6) is fixed on pedestal (1), and lower part and the sliding block (402) of pressure spring (6) offset.
8. the trailing type feedback device described in accordance with the claim 1 for the intelligent robot that doffs, which is characterized in that described
Bearing is equipped in pedestal (1), the transmission shaft (201) of idler wheel (2) is adapted with bearing, and transmission shaft (201) passes through one end of bearing
It is connect by shaft coupling with the power input shaft of motor (3).
9. the trailing type feedback device for the intelligent robot that doffs according to claim 4, which is characterized in that further include
One end of shell (7), the shell (7) is fixedly connected with the end face of motor (3), and the other end and bearing of shell (7) are fixed to be connected
It connects, shell (7) covers the power input shaft of motor (3) and the transmission shaft (201) across bearing；The connecting plate (5) is sleeved on
Shell (7) outer surface, and be fixedly connected with shell (7).
The robot 10. a kind of intelligence is doffed, which is characterized in that including ontology (8), walking mechanism (9), chassis (10) and feedback dress
It sets, ontology (8) is connect by elevating mechanism with chassis (10), and walking mechanism (9) is connect with chassis (10), feedback device and ontology
(8) it connects；
The feedback device includes pedestal (1), idler wheel (2) and motor (3), and idler wheel (2) is located at pedestal (1) side, on idler wheel (2)
Equipped with transmission shaft (201), transmission shaft (201) is rotatably connected with pedestal (1), the power input shaft and transmission shaft of motor (3)
(201) it connects, pedestal (1) is fixedly connected on ontology (8)；The motor (3) for obtaining the revolving speed of idler wheel (2) in real time.
11. intelligence is doffed robot according to claim 10, which is characterized in that the intelligence machine that doffs manually is made
When, ontology (8) is hung on the track of spinning frame, and idler wheel (2) is located on the track of spinning frame；Walking mechanism (9) connects with ground
Touching, walking mechanism (9) drive ontology (8) to move along track.
12. the intelligent robot that doffs according to claim 10, which is characterized in that the feedback device
It further include driver and controller, the signal output end of motor (3) is connected with the signal input part of driver, driver
The connection of the signal input part of signal output end and controller；
The motor (3) is for feeding back to the rotary speed information of idler wheel (2) in the driver, then by driver by rotary speed information
It feeds back in controller；
The controller handles the rotary speed information received, and then by treated, rotary speed information is sent to the intelligent robot that doffs
Driving equipment in, work of doffing is carried out by the driving equipment driving intelligence robot that doffs.
13. the intelligent robot that doffs according to claim 10, which is characterized in that the feedback device further includes the dress that floats
Set, idler wheel (2) is connect by floating installation with pedestal (1), when floating installation makes idler wheel (2) work always with the rail of spinning frame
Road contact.
14. the intelligent robot that doffs according to claim 13, which is characterized in that the floating installation includes the list that floats
First (4) and connecting plate (5)；
The floating unit (4) includes guide rail (401) and sliding block (402), and guide rail (401) is fixedly connected with pedestal (1), sliding block
(402) it is nested on guide rail (401), and sliding block (402) can be moved up and down along guide rail (401)；
The floating unit (4) is two, is laid in idler wheel (2) two sides respectively；Connecting plate (5) both ends respectively with a floating unit
In sliding block (402) be fixedly connected；Connecting plate (5) is connect with the transmission shaft (201) of idler wheel (2).
The robot 15. intelligence according to claim 14 is doffed, which is characterized in that the floating installation further includes pressure spring
(6), pressure spring (6) is connected in pedestal (1), and pressure spring (6) applies pressure to idler wheel (2).
16. the intelligent robot that doffs according to claim 15, which is characterized in that the pressure spring (6) is located at transmission shaft
(201) top, the top of pressure spring (6) are fixed in pedestal (1), and lower part and the transmission shaft (201) of pressure spring (6) offset.
17. the intelligent robot that doffs according to claim 15, which is characterized in that the top of the pressure spring (6) is fixed on
On pedestal (1), lower part and the sliding block (402) of pressure spring (6) offset.
18. the intelligent robot that doffs according to claim 10, which is characterized in that bearing is equipped in the pedestal (1),
The transmission shaft (201) of idler wheel (2) is adapted with bearing, and one end that transmission shaft (201) passes through bearing passes through shaft coupling and motor (3)
Power input shaft connection.
The robot 19. intelligence according to claim 14 is doffed, which is characterized in that the feedback device further includes shell
(7), one end of the shell (7) is fixedly connected with the end face of motor (3), and the other end of shell (7) is fixedly connected with bearing, shell
Body (7) covers the power input shaft of motor (3) and the transmission shaft (201) across bearing；The connecting plate (5) is sleeved on shell
(7) outer surface, and be fixedly connected with shell (7).
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 CN107217346A (en) | 2017-09-29 |
| CN107217346B true CN107217346B (en) | 2019-09-27 |
Family
ID=59948400
Family Applications (1)
| 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 |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107217346B (en) |
Families Citing this family (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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN202337855U (en) * | 2011-11-04 | 2012-07-18 | 侯国阳 | Doffing cart for bearing automatic doffing device and moving at equal interval |
| CN104420025A (en) * | 2013-08-20 | 2015-03-18 | 青岛云龙纺织机械有限公司 | Elastic supporting wheel device |
-
2017
- 2017-06-07 CN CN201710423257.1A patent/CN107217346B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN202337855U (en) * | 2011-11-04 | 2012-07-18 | 侯国阳 | Doffing cart for bearing automatic doffing device and moving at equal interval |
| CN104420025A (en) * | 2013-08-20 | 2015-03-18 | 青岛云龙纺织机械有限公司 | Elastic supporting wheel device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107217346A (en) | 2017-09-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107217346B (en) | Trailing type feedback device and the intelligent robot that doffs for the intelligent robot that doffs | |
| CN205892278U (en) | Novel receipts cloth machine | |
| CN101299154A (en) | Unmanned cleaning device | |
| CN207580974U (en) | A kind of intermittent drive mechanism for cloth inspecting machine | |
| CN104058338B (en) | Having hoists walks the track type container field bridge of two-in-one traveling gear | |
| CN109573880A (en) | A kind of automatic transporting machine people's lifting device | |
| CN109571347A (en) | Flat lamp assembly line closed assembly station | |
| CN108734044A (en) | A kind of art work mark identification equipment | |
| CN108909218A (en) | A kind of electricity charge invoice intelligence seal-affixing machine | |
| CN102568084B (en) | Paper money temporary storage device in paper money identifier | |
| CN104112148B (en) | The apparatus and method that intelligent sorting is carried out to card | |
| CN110419871A (en) | A kind of Intelligent moisture-proof cooling compact shelving | |
| CN208752631U (en) | A kind of art work mark identification equipment | |
| CN209467842U (en) | Sheet material automatic charging device | |
| CN107187075A (en) | Device is resend in a kind of carbon fiber placement head | |
| CN101767727B (en) | Belt winder system | |
| CN206070075U (en) | A kind of weaving circulating cleaning machine driving structure | |
| CN209654854U (en) | Improve the expanding device of pipe robot adaptability | |
| CN112623863A (en) | Cable winding device for artificial intelligent robot | |
| CN201801142U (en) | Belt carrier device | |
| CN205223479U (en) | Spun yarn is travelling car for on -line measuring | |
| CN205788549U (en) | A kind of folder doll machine overhead traveling crane | |
| CN217861276U (en) | Robot system is patrolled and examined to wisdom | |
| CN213642534U (en) | Intelligent blood sampling and transfusion workbench | |
| CN109484913A (en) | A kind of cable intelligence line winder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |