CN107268127B - Robot intubation self-regulation positioning device of intelligently doffing and the intelligent robot that doffs - Google Patents
Robot intubation self-regulation positioning device of intelligently doffing and the intelligent robot that doffs Download PDFInfo
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- CN107268127B CN107268127B CN201710424192.2A CN201710424192A CN107268127B CN 107268127 B CN107268127 B CN 107268127B CN 201710424192 A CN201710424192 A CN 201710424192A CN 107268127 B CN107268127 B CN 107268127B
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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
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Abstract
The invention discloses a kind of intelligence robot intubations of doffing to be doffed robot with self-regulation positioning device and intelligence, belongs to robot field of intelligently doffing.Intubation self-regulation positioning device and the intelligent robot that doffs, so that intelligence is doffed, in intubation, precise positioning improves intubation rate for robot.The self-regulation positioning device includes idler wheel and pedestal；The idler wheel is rotatably connected with pedestal, and idler wheel at least partly surface is located on the outside of pedestal.
Description
Technical field
The invention belongs to intelligent robotic technology fields of doffing, it particularly relates to which a kind of intelligence is doffed, robot is intubated
With self-regulation positioning device and the intelligent robot that doffs.
Background technique
Currently, carrying out work of doffing using the intelligent robot that doffs.Intelligence doffs robot at work, by thereon
Idler wheel is mounted on the track of spinning frame.The intelligence robot that doffs advances along track.During installation, to ensure intelligent doffer
The pipe racking device of device people and the spindle blade of spinning frame keep suitable distance, improve intubation rate, usually go out in the robot that intelligently doffs
Before factory, corresponding component is adjusted to the position needed to curstomer's site.Due to spinning frame track, spindle blade and the sheet in different clients
Distance is different between body, and therefore, it is necessary to carry out different adjustings to the intelligent robot that doffs.In this way, being unfavorable for intelligent doffer
The unification of standard when device people manufactures.In addition, it is necessary to which the robot corresponding component that disposably will intelligently doff is adjusted in place, so that installation
After on spinning frame suitable distance can be kept with spindle blade, it is desirable that it is excessively high, it is difficult to realize.
Summary of the invention
The present invention provides a kind of intelligence and doffs robot intubation self-regulation positioning device and the robot that intelligently doffs, so that
Intelligence doffs robot in intubation, and precise positioning improves intubation rate.
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, doff robot intubation self-regulation positioning device the present embodiment provides a kind of intelligence, including idler wheel
And pedestal；The idler wheel is rotatably connected with pedestal, and idler wheel at least partly surface is located on the outside of pedestal.
With reference to first aspect, as the scheme that the first may be implemented, the intelligence is doffed robot intubation self-regulated
Positioning device is saved, further includes the first positioning plate, the first positioning plate and pedestal are rotatably connected.
The first scheme that may implement with reference to first aspect, the scheme that may implement as second, the intelligence
Robot intubation of doffing self-regulation positioning device, further includes torsional spring, torsional spring is between pedestal and the first positioning plate, torsional spring one
End offsets with pedestal, and the torsional spring other end offsets with the first positioning plate.
Second of scheme that may implement with reference to first aspect, as the scheme that the third may be implemented, the pedestal
And first be rotatablely connected between positioning plate by pin shaft, the torsion spring set is on pin shaft.
The first scheme that may implement with reference to first aspect, the scheme that may implement as the 4th kind, the intelligence
Robot intubation of doffing self-regulation positioning device further includes the second positioning plate, the second positioning plate and the fixed company of the first positioning plate
It connects.
The 4th kind of scheme that may implement with reference to first aspect, the scheme that may implement as the 5th kind, described second is fixed
Position plate includes in vertical end plate and in horizontal top plate, and end plate is fixedly connected with top plate, and the first positioning plate is fixed with end plate
Connection, end plate and top plate are respectively equipped with location hole.
The 5th kind of scheme that may implement with reference to first aspect, the scheme that may implement as the 6th kind, the location hole
It is multiple；Through slot is equipped in first positioning plate.
Second aspect, the embodiment of the present invention also provides a kind of intelligence and doffs robot, including contains main frame and sub-frame
Ontology, rack pipe mechanism is equipped in the sub-frame；It further include positioning device, the positioning device is connected on sub-frame, and
Positioning device is located at the lower section of rack pipe mechanism；The positioning device includes idler wheel and pedestal；The idler wheel rotatably connects with pedestal
It connects, and idler wheel at least partly surface is located on the outside of pedestal.
In conjunction with second aspect, as the scheme that the first may be implemented, the positioning device further includes the first positioning plate, the
One positioning plate and pedestal are rotatably connected.
The scheme that the first may be implemented in conjunction with second aspect, the scheme that may implement as second, the positioning dress
Setting further includes torsional spring, and between pedestal and the first positioning plate, one end of torsional spring offsets torsional spring with pedestal, the torsional spring other end and first
Positioning plate offsets.
In conjunction with second aspect, as the scheme that the third may be implemented, the positioning device further includes the second positioning plate, the
Two positioning plates are fixedly connected with the first positioning plate.
The scheme that the third may be implemented in conjunction with second aspect, the scheme that may implement as the 4th kind, described second is fixed
Position plate includes in vertical end plate and in horizontal top plate, and end plate is fixedly connected with top plate, and the first positioning plate is fixed with end plate
Connection, end plate and top plate are respectively equipped with location hole.
In conjunction with the 4th kind of scheme that may implement of second aspect, the scheme that may implement as the 5th kind, the location hole
It is multiple；Through slot is equipped in first positioning plate.
It is any in the scheme that may implement in conjunction with second aspect and the first scheme that may implement to the 4th kind
Scheme, the scheme that may implement as the 6th kind, it further includes tension spring, tension spring is connected to secondary frame that the intelligence, which is doffed robot,
On frame or on main frame and sub-frame, tension spring applies the pulling force mobile to spinning frame direction to sub-frame.
Compared with prior art, the embodiment of the present invention have the advantages that the embodiment of the present invention positioning device and
Intelligently doff robot, and when the robot that intelligently doffs carries out intubation work, precise positioning improves intubation rate.The present embodiment
Positioning device is mounted on the sub-frame of the intelligent robot that doffs.In the robot traveling process that intelligently doffs, the present embodiment
At a distance from positioning device is kept constant with spinning frame always so that intelligence doff robot rack pipe mechanism comb mouth with
The distance of spindle blade is kept constant.Which improves the accuracys rate of intubation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of positioning device of the embodiment of the present invention；
Fig. 2 is the side view of positioning device of the embodiment of the present invention；
Fig. 3 is that the embodiment of the present invention is intelligently doffed the structural schematic diagram of robot.
Have in figure: idler wheel 1, pedestal 2, the first positioning plate 3, torsional spring 4, the second positioning plate 5, end plate 501, top plate 502, secondary frame
Frame 6, tension spring 7.
Specific embodiment
With reference to the accompanying drawing, technical solution of the present invention is described in detail.
As depicted in figs. 1 and 2, a kind of intelligence of the embodiment of the present invention doff robot intubation with self-regulation positioning device,
Including idler wheel 1 and pedestal 2.Idler wheel 1 is rotatably connected with pedestal 2, and at least partly surface of idler wheel 1 is located at 2 outside of pedestal.
In intubation, the idler wheel for the robot that intelligently doffs is located on the track of spinning frame.Intelligence is doffed the comb of robot
The empty spool being discharged in mechanism is fallen on the spindle blade of spinning frame.In the robot traveling process that intelligently doffs, by installing this hair
The positioning device of bright embodiment, so that intelligence is doffed, the comb mouth of the rack pipe mechanism of robot is kept constant at a distance from spindle blade.
The positioning device of the present embodiment is mounted on the sub-frame of the intelligent robot that doffs.
The pedestal 2 of positioning device is fixedly connected on the sub-frame of the intelligent robot that doffs.The idler wheel 1 of positioning device and thin
The ring rail of yarn machine touches.Of course for positioning purpose is reached, idler wheel 1 can also be with other fixation member phases on spinning frame
Touching.In the moving process for intelligently doffing robot, idler wheel 1 rolls on ring rail always.Which guarantee rack pipe mechanisms
Comb mouth remains constant at a distance from spindle blade.
When being intubated work completion, the sub-frame in robot that intelligently doffs is needed to mobile far from spinning frame direction.In
In the moving process, being mounted on the intelligent pedestal 2 to doff in robot may be with the main frame or secondary frame of the intelligent robot that doff
Frame generates location conflicts, is unable to complete movement.For this purpose, the positioning device further includes the first positioning plate 3, the first positioning plate 3
It is rotatably connected with pedestal 2.Pedestal 2 and idler wheel 1 intelligence is connected to by the first positioning plate 3 to doff in robot.Meanwhile base
It can be rotated between seat 2 and the first positioning plate 3.In this way, intelligence is doffed, the sub-frame of robot is to far from the movement of spinning frame direction
When, with other component location conflicts will not occur for pedestal 2.When other component stops pedestal 2 mobile, pedestal 2 rotates.
When to ensure to be intubated, the stability of position, the positioning device further include between the first positioning plate 3 and pedestal 2
Torsional spring 4, torsional spring 4 are located between pedestal 2 and the first positioning plate 3, and 4 one end of torsional spring offsets with pedestal 2,4 other end of torsional spring and first
Positioning plate 3 offsets.Since torsional spring 4 applies pressure to the first positioning plate 3 and pedestal 2 simultaneously, so that the first positioning plate 3 and pedestal 2
Between relative position keep constant, change distance between the two unless there are external force.
It as preference, is rotatablely connected between the pedestal 2 and the first positioning plate 3 by pin shaft, the torsional spring 4 is set with
On pin shaft.This structure is simple, and functional reliability is high.
To adjust convenient for position, the positioning device further includes the second positioning plate 5, the second positioning plate 5 and the first positioning
Plate 3 is fixedly connected.By the way that the second positioning plate 5, the position of adjustable pedestal 2 is arranged.As preference, second positioning plate
5 include in vertical end plate 501 and in horizontal top plate 502, and end plate 501 is fixedly connected with top plate 502, and the first positioning plate 3
It is fixedly connected with end plate 501, end plate 501 and top plate 502 are respectively equipped with location hole.Using location hole, top plate 502 is connected to intelligence
It can doff on the sub-frame of robot, end plate 501 and the first positioning plate 3 are connected.In this preference, the second positioning plate 5 is in L
Type.Certainly, the second positioning plate 5 can also be in other shapes.In this preference, the link position of top plate 502 and sub-frame can be with
It adjusts, the link position of end plate 501 and the first positioning plate 3 is also adjustable.In this way, by reasonably selecting the second positioning plate 5
Link position can make idler wheel 1 contact with the ring rail on spinning frame.As preference, the location hole be it is multiple, first
Through slot is equipped in positioning plate 3.
It doffs robot as shown in figure 3, the embodiment of the present invention also provides a kind of intelligence, including contains main frame and sub-frame
6 ontology, positioning device.Rack pipe mechanism is equipped in the sub-frame 6.Positioning device is connected on sub-frame 6, and positioning device
Positioned at the lower section of rack pipe mechanism.Positioning device includes idler wheel 1 and pedestal 2.Idler wheel 1 is rotatably connected with pedestal 2, and idler wheel 1 to
Small part surface is located at 2 outside of pedestal.
The intelligence of above-described embodiment is doffed in robot, and ontology includes main frame and sub-frame 6, and sub-frame 6 can be along master
The track of frame is mobile, i.e., moves close to spinning frame direction or separate.When needing to carry out intubation work, sub-frame 6 to
Spinning frame direction moves close to.The positioning device being mounted on sub-frame 6 is contacted with the ring rail on spinning frame.Idler wheel 1 along
Ring rail rolls.By the way that positioning device is arranged so that the comb mouth of rack pipe mechanism that intelligence is doffed in robot and spindle blade away from
It is constant from remaining, convenient for improving intubation efficiency.
To be mobile with sub-frame convenient for positioning device, the positioning device further includes the first positioning plate 3, the first positioning plate 3
It is rotatably connected with pedestal 2.Pedestal 2 and idler wheel 1 intelligence is connected to by the first positioning plate 3 to doff in robot.Meanwhile base
It can be rotated between seat 2 and the first positioning plate 3.In this way, intelligence is doffed, the sub-frame 6 of robot is to far from the movement of spinning frame direction
When, with other component location conflicts will not occur for pedestal 2.When other component stops pedestal 2 mobile, pedestal 2 rotates, and makes
Obtaining pedestal 2 can continue to move to sub-frame 6.
When to ensure to be intubated, the stability of position between the first positioning plate 3 and pedestal 2, the positioning device further includes turning round
Spring 4, torsional spring 4 are located between pedestal 2 and the first positioning plate 3, and 4 one end of torsional spring offsets with pedestal 2, and 4 other end of torsional spring and first is determined
Position plate 3 offsets.Since torsional spring 4 applies pressure to the first positioning plate 3 and pedestal 2 simultaneously so that the first positioning plate 3 and pedestal 2 it
Between relative position keep constant, change distance between the two unless there are external force.
It as preference, is rotatablely connected between the pedestal 2 and the first positioning plate 3 by pin shaft, the torsional spring 4 is set with
On pin shaft.This structure is simple, and functional reliability is high.
To adjust convenient for position, the positioning device further includes the second positioning plate 5, the second positioning plate 5 and the first positioning
Plate 3 is fixedly connected.By the way that the second positioning plate 5, the position of adjustable pedestal 2 is arranged.As preference, second positioning plate
5 include in vertical end plate 501 and in horizontal top plate 502, and end plate 501 is fixedly connected with top plate 502, and the first positioning plate 3
It is fixedly connected with end plate 501, end plate 501 and top plate 502 are respectively equipped with location hole.Using location hole, top plate 502 is connected to intelligence
It can doff on the sub-frame of robot, end plate 501 and the first positioning plate 3 are connected.In this preference, top plate 502 and sub-frame
Link position it is adjustable, the link position of end plate 501 and the first positioning plate 3 is also adjustable.In this way, passing through reasonable selection
The link position of second positioning plate 5, can make idler wheel 1 contact with the ring rail on spinning frame.As preference, the positioning
Hole be it is multiple, in the first positioning plate 3 be equipped with through slot.
To ensure to be intubated in work, the idler wheel 1 in positioning device is contacted with ring rail always, and the intelligence is doffed machine
People further includes tension spring 7, and tension spring 7 is connected on sub-frame 6 or on main frame and sub-frame 6, and tension spring 7 applies sub-frame 6
The pulling force mobile to spinning frame direction.In mounting and positioning device, operator estimates installation site first, then passes through tension spring
7 are adjusted.After operator estimates installation site first, still there is gap between idler wheel 1 and ring rail, then passes through tension spring 7
To the pulling force that sub-frame 6 applies, so that sub-frame 6 is close to spinning frame direction, until idler wheel 1 and ring rail contact.Work as operation
After personnel estimate installation site first, when very close to each other between idler wheel 1 and ring rail, the power that ring rail applies idler wheel 1 makes
Track of the sub-frame 6 on main frame is moved to far from spinning frame direction.With after, idler wheel 1 and ring rail begin moving process
It is kept in contact eventually.The present embodiment realizes the fine adjustment to 1 position of idler wheel, so that idler wheel 1 and ring rail by setting tension spring 7
Remain contact.Even if in catheterization procedure, since ring rail of spinning machine deforms, so that idler wheel 1 is detached from ring rail, then
Under tension spring 7 acts on, sub-frame 6 is moved close to spinning frame direction, so that idler wheel 1 is contacted with ring rail again.
Those skilled in the art know, are also equipped with returning device in the robot that intelligently doffs, for example, by using cylinder,
Allow track return of the sub-frame 6 on main frame.
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 (13)
- The robot intubation self-regulation positioning device 1. a kind of intelligence is doffed, which is characterized in that including idler wheel (1) and pedestal (2)； The idler wheel (1) is rotatably connected with pedestal (2), and idler wheel (1) at least partly surface is located on the outside of pedestal (2)；It is fixed when work Position device keeps constant the comb mouth of the rack pipe mechanism of the intelligent robot that doffs at a distance from spindle blade.
- The robot intubation self-regulation positioning device 2. intelligence described in accordance with the claim 1 is doffed, which is characterized in that further include First positioning plate (3), the first positioning plate (3) and pedestal (2) are rotatably connected.
- 3. intelligent robot intubation self-regulation positioning device of doffing according to claim 2, which is characterized in that further include Torsional spring (4), torsional spring (4) are located between pedestal (2) and the first positioning plate (3), and torsional spring (4) one end offsets with pedestal (2), torsional spring (4) other end offsets with the first positioning plate (3).
- The robot intubation self-regulation positioning device 4. intelligence described in accordance with the claim 3 is doffed, which is characterized in that described It is rotatablely connected between pedestal (2) and the first positioning plate (3) by pin shaft, the torsional spring (4) is sleeved on pin shaft.
- 5. intelligent robot intubation self-regulation positioning device of doffing according to claim 2, which is characterized in that further include Second positioning plate (5), the second positioning plate (5) are fixedly connected with the first positioning plate (3).
- 6. intelligence is doffed robot intubation self-regulation positioning device according to claim 5, which is characterized in that described the Two positioning plates (5) include in vertical end plate (501) and in horizontal top plate (502), and end plate (501) and top plate (502) are fixed Connection, and the first positioning plate (3) is fixedly connected with end plate (501), end plate (501) and top plate (502) are respectively equipped with location hole.
- 7. intelligent robot intubation self-regulation positioning device of doffing according to claim 6, which is characterized in that described fixed Position hole is multiple；Through slot is equipped in first positioning plate (3).
- The robot 8. a kind of intelligence is doffed is equipped in the sub-frame (6) including the ontology containing main frame and sub-frame (6) Rack pipe mechanism, which is characterized in that further include positioning device, the positioning device is connected on sub-frame (6), and positioning device position In the lower section of rack pipe mechanism；The positioning device includes idler wheel (1) and pedestal (2)；The idler wheel (1) is rotatably connected with pedestal (2), and idler wheel (1) At least partly surface is located on the outside of pedestal (2)；It further include tension spring (7), tension spring (7) is connected on sub-frame (6) or on main frame and sub-frame (6), and tension spring (7) is right Sub-frame (6) applies the pulling force mobile to spinning frame direction；When work, positioning device keeps constant the comb mouth of the rack pipe mechanism of the intelligent robot that doffs at a distance from spindle blade.
- 9. the intelligent robot that doffs according to claim 8, which is characterized in that the positioning device further includes the first positioning Plate (3), the first positioning plate (3) and pedestal (2) are rotatably connected.
- 10. the intelligent robot that doffs according to claim 9, which is characterized in that the positioning device further includes torsional spring (4), torsional spring (4) is located between pedestal (2) and the first positioning plate (3), and torsional spring (4) one end offsets with pedestal (2), and torsional spring (4) is another One end offsets with the first positioning plate (3).
- 11. the intelligent robot that doffs according to claim 9, which is characterized in that the positioning device further includes second fixed Position plate (5), the second positioning plate (5) are fixedly connected with the first positioning plate (3).
- 12. the intelligent robot that doffs according to claim 11, which is characterized in that second positioning plate (5) includes being in Vertical end plate (501) and in horizontal top plate (502), end plate (501) is fixedly connected with top plate (502), and the first positioning plate (3) it is fixedly connected with end plate (501), end plate (501) and top plate (502) are respectively equipped with location hole.
- 13. the intelligent robot that doffs according to claim 12, which is characterized in that the location hole is multiple；Described Through slot is equipped in one positioning plate (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710424192.2A CN107268127B (en) | 2017-06-07 | 2017-06-07 | Robot intubation self-regulation positioning device of intelligently doffing and the intelligent robot that doffs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710424192.2A CN107268127B (en) | 2017-06-07 | 2017-06-07 | Robot intubation self-regulation positioning device of intelligently doffing and the intelligent robot that doffs |
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| Publication Number | Publication Date |
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| CN107268127A CN107268127A (en) | 2017-10-20 |
| CN107268127B true CN107268127B (en) | 2019-11-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710424192.2A Active CN107268127B (en) | 2017-06-07 | 2017-06-07 | Robot intubation self-regulation positioning device of intelligently doffing and the intelligent robot that doffs |
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| CN106498579A (en) * | 2016-12-28 | 2017-03-15 | 荣德明 | A kind of spinning doffer plug-pull tube positioning power device |
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2017
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|---|---|---|---|---|
| EP0148129A2 (en) * | 1983-12-28 | 1985-07-10 | Howa Kogyo Kabushiki Kaisha | Method and apparatus for bobbin changing in roving frame |
| CN202968834U (en) * | 2012-12-15 | 2013-06-05 | 吐鲁番溢达纺织有限公司 | Improved rotor spinning machine patrol trolley positioning device |
| CN103231943A (en) * | 2013-05-16 | 2013-08-07 | 铜陵市松宝机械有限公司 | Device for automatically cleaning tail yarn |
| CN204455418U (en) * | 2014-12-21 | 2015-07-08 | 晋中经纬泓鑫机械有限公司 | A kind of combination automatic doffing dolly |
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| Publication number | Publication date |
|---|---|
| CN107268127A (en) | 2017-10-20 |
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