An AGV walking device for an automatic doffing robot of a texturing machine

Abstract

The present invention relates to an AGV walking device of an automatic bobbin-dropping robot for a texturing machine, comprising a main platform, a side support frame, auxiliary wheels, a steering wheel, a balancing wheel, a geomagnetic sensor and a radar, wherein the side support frame is arranged on the side of the main platform, the main platform and the side support frame are respectively provided with auxiliary wheels, a steering wheel and a balancing wheel, the walking device comprises a front end and a rear end, the radar is respectively arranged at the front end and the rear end, the geomagnetic sensor is arranged around the walking device, and the steering wheel is respectively arranged at the front end and the rear end. The present invention effectively ensures the walking balance of the AGV walking mechanism, can realize the AGV's on-the-spot U-turn, and saves the AGV's turning space; when the AGV walks in a straight line, it quickly senses obstacles in front to ensure safe passage, and can adjust the main platform's inclination angle in real time to meet the normal operation of other devices on the platform.

Description

Technical Field

[0001] The invention relates to the technical field of texturing machines, and in particular to an AGV walking device of an automatic tube-dropping robot of a texturing machine. Background Art

[0002] The texturing machine is a kind of textile machine that can process untwisted yarns such as polyester (POY) and polypropylene into elastic yarns with medium elasticity and low elasticity through false twisting. Existing texturing machines mainly use manual handling or RGV-type rail-mounted trolleys for unloading. Manual handling has high labor intensity for workers, and the RGV type must have a fixed walking track, which takes up a lot of space, has a fixed path and is not easy to change, and the whole factory scheduling is not flexible. Summary of the invention

[0003] In order to solve the problems of the prior art, the present invention provides an AGV walking device of an automatic doffing robot for a texturing machine which has flexible walking, small space occupation and better flexibility.

[0004] The specific technical scheme is as follows: A walking device of an automatic tube-dropping robot AGV for a texturing machine, comprising a main platform, a side support frame, auxiliary wheels, a steering wheel, a balancing wheel, a geomagnetic sensor and a radar, wherein the side support frame is arranged on the side of the main platform, and the main platform and the side support frame are respectively provided with auxiliary wheels, steering wheels and balancing wheels, the walking device comprises a front end and a rear end, the radars are respectively arranged at the front end and the rear end, the geomagnetic sensors are arranged around the walking device, and the steering wheels are respectively arranged at the front end and the rear end.

[0005] As a preferred solution, the main platform is provided with a tilt sensor and a jacking device, and the tilt sensor and the jacking device are connected.

[0006] As a preferred solution, the lifting device includes a first servo motor, the first servo motor is connected to a first planetary reducer, the first planetary reducer is connected to a first coupling, and the first coupling is connected to a first jack.

[0007] As a preferred solution, the main platform is provided with a pushing and extending device, which is connected to the positioning and air extraction device.

[0008] As a preferred solution, the pushing and extending device includes an adapter, which is fixed to the end of the second jack and connected to the positioning and air extraction device. The second jack is connected to the second planetary reducer through a second coupling, and the second planetary reducer is connected to the second servo motor.

[0009] As a preferred solution, the positioning and air extraction device includes a floating joint, which is fixed on the push plate and connected to the adapter. The push plate is connected to the cam bracket through the first guide shaft, and the male side of the pipe joint and the guide cam are connected to the cam bracket.

[0010] As a preferred solution, the male side of the pipe joint is fixed to the cam bracket via a pipe joint fixing seat, and a spring is provided between the pipe joint fixing seat and the cam bracket.

[0011] As a preferred solution, the first guide shaft is passed through a fixing seat, the fixing seat is provided with a photoelectric bracket, a photoelectric switch is arranged on the photoelectric bracket, a proximity switch is arranged at one end of the fixing seat, and the proximity switch is located at the same end as the male side of the pipe joint.

[0012] As a preferred solution, guide wheels are provided on the sides of the main platform.

[0013] As a preferred solution, a battery pack is provided on the main platform.

[0014] The technical effects of the present invention are as follows: 1. The dual steering wheels, dual auxiliary wheels and dual balance wheel structures are used to effectively ensure the walking balance of the AGV walking mechanism. The dual steering wheels can realize the AGV's on-the-spot U-turn, saving the AGV's turning space; 2. The front and rear radar layout is adopted. When the AGV walks in a straight line, it can quickly sense the obstacles in front to ensure safe passage; 3. A geomagnetic sensor is arranged on the front, back, left and right to ensure that the AGV walking mechanism will not leave the range of the ground magnetic strip, so that the entire AGV can ensure that it runs according to the specified program; 4. The AGV walking mechanism has its own tilt sensor, which can adjust the tilt angle of the main platform in real time to meet the normal operation of other devices on the platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The figure is a schematic diagram of an AGV walking device of an automatic doffing robot of a texturing machine according to an embodiment of the present invention.

[0016] Figure 2 It is another schematic diagram of an AGV walking device of an automatic tube-dropping robot for a texturing machine according to an embodiment of the present invention.

[0017] Figure 3 Schematic diagram of a lifting device according to an embodiment of the present invention.

[0018] Figure 4 Schematic diagram of a pushing and extending device according to an embodiment of the present invention.

[0019] Figure 5 Schematic diagram of a positioning and air extraction device according to an embodiment of the present invention.

[0020] Figure 6 2 is another schematic diagram of the positioning and air extraction device according to an embodiment of the present invention.

[0021] Figure 7 It is a schematic diagram of the positioning and air extraction device of an embodiment of the present invention before positioning.

[0022] Figure 8 It is a schematic diagram of the positioning and air extraction device after positioning according to an embodiment of the present invention. DETAILED DESCRIPTION

[0023] The essential features and advantages of the present invention are further described below in conjunction with examples, but the present invention is not limited to the listed embodiments.

[0024] like Figures 1 to 8 As shown, a walking device of an automatic doffing robot AGV of a texturing machine in this embodiment includes a main platform 1, a side support frame 2, an auxiliary wheel 3, a steering wheel 4, a balancing wheel 5, a geomagnetic sensor 6 and a radar 7, wherein the side support frame 2 is arranged on the side of the main platform 1. The main platform 1 and the side support frame 2 are respectively provided with an auxiliary wheel 3, a steering wheel 4 and a balancing wheel 5. The walking device includes a front end 10 and a rear end 20, wherein the radar 7 is respectively arranged at the front end and the rear end, the geomagnetic sensor 6 is arranged around the walking device, and the steering wheel 4 is respectively arranged at the front end and the rear end. In the above technical scheme, a double steering wheel, a double auxiliary wheel and a double balancing wheel structure are adopted to effectively ensure the walking balance of the AGV walking device. The double steering wheels can realize the U-turn of the AGV in situ, saving the turning space of the AGV. The front and rear radar layout is adopted, and when the AGV walks in a straight line, the obstacles in front are quickly sensed to ensure safe passage. A geomagnetic sensor 6 is arranged at the front, back, left and right to ensure that the AGV walking device will not leave the range of the ground magnetic strip when walking, so that the entire AGV is guaranteed to run according to the specified program.

[0025] In this embodiment, the main platform 1 is provided with a tilt sensor 11 and a lifting device 8, and the tilt sensor 11 and the lifting device 8 are connected. The AGV walking device is equipped with a tilt sensor 11 which can adjust the tilt angle of the main platform 1 in real time to ensure the normal operation of other devices on the platform.

[0026] In this embodiment, the jacking device 8 includes a first servo motor 81, the first servo motor 81 is connected to the first planetary reducer 82, the first planetary reducer 82 is connected to the first coupling 83, and the first coupling 83 is connected to the first jack 84. The mounting bracket 85 is fixed on the main platform 1, the first jack 64 is fixed on the mounting bracket 85 and the end is connected to the side support frame 2, the first servo motor 81 is connected to the first planetary reducer 82, the first planetary reducer 82 is fixed on the reducer fixing seat 86, the reducer fixing seat 86 is fixed on the mounting bracket 85, and the first coupling 83 connects the first planetary reducer and the first jack.

[0027] When the main platform tilts, the tilt sensor 11 sends a signal, and the PLC controls the first servo motor 81 to rotate, driving the end of the first jack to lift or lower. Since the end of the first jack 84 is connected to the side support frame 2 and the side support frame 2 is located on the ground, the main platform 1 can be reversely driven to change its tilt angle. When the main platform reaches horizontal, the tilt sensor sends a signal to the PLC again, and the PLC sends a stop command to stop the first servo motor.

[0028] In this embodiment, the main platform 1 is provided with a pushing device 9, and the pushing device 9 is connected to the positioning and air extraction device 30. In this embodiment, the pushing device 9 includes an adapter 91, which is fixed at the end of the second jack 92 and connected to the positioning and air extraction device 30. The second jack 92 is connected to the second planetary reducer 94 through a second coupling 93, and the second planetary reducer 94 is connected to the second servo motor 95. In the above technical solution, the adapter 91 is fixed to the end of the second jack 92; the second jack 92 is fixed on the mounting bracket 96; the second coupling 93 connects the second jack and the second planetary reducer 94 together; the second planetary reducer 94 is fixed on the reducer fixing seat 97; the reducer fixing seat 97 is fixed on the mounting bracket 96; the second servo motor 95 is fixed to the second planetary reducer 94; the mounting bracket 96 is fixed on the main platform 1; the adapter 91 is connected to the positioning and air extraction device 30. The second servo motor 95 drives the adapter 91 at the end of the second jack 92 to extend and retract forward and backward, thereby driving the front end of the positioning and air extraction device to move, thereby achieving the positioning and air extraction function.

[0029] In this embodiment, the positioning and air extraction device 30 includes a floating joint 301, which is fixed on a push plate 302 and connected to an adapter 91. The push plate 302 is connected to a cam bracket 304 through a first guide shaft 303, and a pipe joint male side 305 and a guide cam 306 are connected to the cam bracket 304. In this embodiment, the pipe joint male side 305 is fixed to the cam bracket 304 through a pipe joint fixing seat 307, and a spring 308 is provided between the pipe joint fixing seat 307 and the cam bracket 304. The first guide shaft 303 is passed through a fixing seat 309, and a photoelectric bracket 401 is provided on the fixing seat 309, and a photoelectric switch 402 is provided on the photoelectric bracket 401. A proximity switch 403 is provided at one end of the fixing seat 309, and the proximity switch 403 is located at the same end as the pipe joint male side 305.

[0030] In the above technical solution, one end of the floating joint 301 is fixed on the push plate 302, and the other end is connected to the adapter 91; the two ends of the first guide shaft 303 are respectively connected to the push plate 302 and the cam bracket 304, and pass through the fixing seat 307; the power-off switch 402 is fixed on the power-off bracket 401; the photoelectric bracket 401 is fixed on the fixing seat 309; the proximity switch 403 is fixed on the proximity switch mounting plate 404; the proximity switch mounting plate 404 is fixed on the second L-shaped bracket 405; the second guide shaft 406 is connected to the air source switch The first L-shaped bracket 408 is fixed on the second fixing plate 502; the second fixing plate 502 is fixed on the first fixing plate 501; the first fixing plate 501 is fixed on the fixing seat 307; the male side of the 305 pipe joint is fixed on the pipe joint fixing seat 307; the spring 308 is sleeved on the pipe joint fixing seat 307, and the pipe joint fixing seat 307 passes through the cam bracket; the guide cam is fixed on the cam bracket 304.

[0031] Action description: The floating joint 301 is connected to the adapter 91. When the second jack 92 drives the adapter 91 to move, it is equivalent to driving the floating joint to move. It can be seen from the relationship between the various parts in the structural description that the movement of the floating joint 301 will drive the movement of the guide cam 306 and the male side 305 of the pipe joint, thereby achieving docking with the female side 503 of the pipe joint, and the docking guidance is achieved through the cooperation of the guide cam 306 and the guide side 504. In this embodiment, the side of the main platform 1 is provided with a guide wheel 12 to achieve mobile guidance. In this embodiment, the main platform is provided with a battery pack 13 for power supply.

[0032] The AGV walking device of the automatic doffing robot for a texturing machine in this embodiment can realize functions such as station switching, whole-plant scheduling, automatic positioning, air source connection, and automatic level adjustment of the doffing robot for the texturing machine.

[0033] It should be pointed out that the above preferred embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. An AGV walking device for an automatic doffing robot of a texturing machine, characterized in that: The invention comprises a main platform, a side support frame, an auxiliary wheel, a steering wheel, a balancing wheel, a geomagnetic sensor and a radar, wherein the side support frame is arranged on the side of the main platform, the main platform and the side support frame are respectively provided with an auxiliary wheel, a steering wheel and a balancing wheel, the walking device comprises a front end and a rear end, the radar is respectively arranged at the front end and the rear end, the geomagnetic sensor is arranged around the walking device, and the steering wheel is respectively arranged at the front end and the rear end; the main platform is provided with a tilt sensor and a lifting device, and the tilt sensor is connected to the lifting device; the lifting device comprises a first servo motor, the first servo motor is connected to a first planetary reducer, the first planetary reducer is connected to a first coupling, the first coupling is connected to a first The main platform is provided with a pushing and extending device, which is connected to the positioning and air extraction device. The pushing and extending device includes an adapter, which is fixed to the end of the second jack and connected to the positioning and air extraction device. The second jack is connected to the second planetary reducer through a second coupling, and the second planetary reducer is connected to the second servo motor; the positioning and air extraction device includes a floating joint, which is fixed on the push plate and connected to the adapter, the push plate is connected to the cam bracket through the first guide shaft, and the male side of the pipe joint and the guide cam are connected to the cam bracket; the male side of the pipe joint is fixed to the cam bracket through a pipe joint fixing seat, and a spring is provided between the pipe joint fixing seat and the cam bracket.

2. The AGV walking device of the automatic doffing robot of the texturing machine according to claim 1 is characterized in that: The first guide shaft is passed through the fixing seat, the fixing seat is provided with a photoelectric bracket, the photoelectric switch is arranged on the photoelectric bracket, one end of the fixing seat is provided with a proximity switch, and the proximity switch and the male side of the pipe joint are located at the same end.

3. The AGV walking device of the automatic doffing robot of the texturing machine according to claim 1 is characterized in that: Guide wheels are arranged on the side of the main platform.

4. The AGV walking device of the automatic doffing robot of the texturing machine according to claim 1 is characterized in that: A battery pack is arranged on the main platform.

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