Walking device based on clutch deviation rectification regulation and control

Abstract

The utility model discloses a walking device based on clutch deviation rectification regulation, which comprises a frame, an axle and a driving component, the axle and the driving component are arranged on the frame, and a walking wheel and a deviation rectification wheel are arranged on the axle; a clutch unit is arranged at the right end of the axle, and a deviation rectifying driving unit is arranged on the side, corresponding to the deviation rectifying wheel, of the frame The clutch unit comprises a clutch shell provided with an air pressure chamber, a floating disc is arranged in the air pressure chamber, and the floating disc is movably arranged on the axle in a sleeving mode and fixedly connected with the second bearing. According to the utility model, the connection and separation of the deviation rectifying wheel and the axle are controlled through the clutch unit, and the deviation rectifying wheel synchronously rotates along with the axle during normal walking, so that the walking stability is ensured; when deviation rectification is needed, the deviation rectification wheel is separated from the axle, rapid and flexible deviation rectification action is achieved through the deviation rectification driving unit, the walking flexibility and deviation rectification efficiency of the textile machine are improved, meanwhile, friction between the deviation rectification wheel and the ground in the deviation rectification process is reduced, the service life of a walking device is prolonged, and deviation rectification power input is reduced.

Description

Technical Field

[0001] This utility model relates to the field of textile equipment technology, specifically to a walking device based on clutch correction control applied to the bottom of a textile machine. Background Technology

[0002] In the textile production industry, the walking mechanism is a key component for achieving efficient movement and precise positioning of various textile equipment. Currently, the common correction method used in textile equipment walking mechanisms mainly relies on a drive cylinder applying tension to the wheel axle. When the system detects a deviation in the walking mechanism, the cylinder activates, pulling the wheel axle to change the wheel's tilt angle. This angle change causes the wheel to generate a lateral force during movement, thereby correcting the walking direction and ensuring that the equipment continues to move along the predetermined path.

[0003] However, textile equipment's walking mechanism typically bears a heavy load during operation, including the weight of the equipment itself and the textile materials to be processed. When the cylinder pulls the wheel axle for correction, significant sliding friction occurs between the wheel and the ground. This hard sliding friction means the wheel must overcome enormous resistance when changing angles, requiring the cylinder to output a large pulling force for effective correction. This not only increases the cylinder's power load but also leads to excessive energy consumption, raising the operating costs of textile production. Summary of the Invention

[0004] To overcome the above-mentioned defects, this utility model provides a walking device based on clutch correction control. It has a simple structure and uses a clutch unit to make the wheels roll during correction, thereby reducing frictional resistance, reducing energy consumption and power load, and improving the stability and reliability of equipment operation.

[0005] The technical solution adopted by this utility model to solve its technical problem is to provide a walking device based on clutch correction control, including a frame set at the bottom of a textile machine. The frame is provided with a drive assembly for driving the axle to rotate. The left and right ends of the axle are respectively provided with a walking wheel and a correction wheel. The walking wheel is fixedly connected to the axle through a first bearing, and the correction wheel is floatingly connected to the axle through a second bearing. A clutch unit is provided at the right end of the axle, and a correction drive unit is provided on the side of the frame corresponding to the correction wheel for driving the axle to move.

[0006] The clutch unit includes a clutch housing that rotates synchronously with the axle and is provided with a pneumatic chamber. A floating disc is provided in the pneumatic chamber. The floating disc is movably sleeved on the axle and fixedly connected to the second bearing.

[0007] When air is supplied to the pressure chamber, the floating disc is pressed against the clutch housing, causing the steering wheel to rotate synchronously with the axle, and the clutch unit is in working condition; when the air supply to the pressure chamber is cut off, the floating disc separates from the clutch housing, interrupting the connection between the steering wheel and the axle, and the clutch unit is in the clutch state.

[0008] As a further improvement of this utility model, the clutch housing is fitted onto the axle and locked to the right end of the axle by a locking nut. A clutch cover is fixedly connected to the side of the clutch housing facing the steering wheel. The two together form the receiving space of the floating disc. The end faces of the floating disc and the clutch housing that are close to each other form the air pressure chamber.

[0009] The axle is provided with a gas flow channel, one end of which is connected to an external gas source, and the other end is connected to the pressure chamber.

[0010] As a further improvement of this utility model, the clutch housing includes a flat plate body arranged near the locking nut, a hollow column arranged coaxially with the flat plate body and extending into the accommodating space, and an outer peripheral wall arranged around the outer edge of the flat plate body and in the same direction as the hollow column. The hollow column is sleeved on the axle and has an intermediate flow channel that connects the gas flow channel and the pressure chamber.

[0011] The clutch cover has an annular sheet structure, including a connecting part for fixing to the outer peripheral wall end face, and a mounting part extending radially inward from the connecting part. The mounting part is provided with a clutch plate on the end face near the floating disk.

[0012] As a further improvement of this utility model, the floating disk includes:

[0013] A central hole is provided, extending through the axial direction of the floating disk, and is movably fitted onto the hollow cylinder;

[0014] The first end face is disposed on the side close to the main body of the plate, and forms a sealed air pressure chamber with the inner side of the main body of the plate;

[0015] The second end face, facing the clutch plate, is used to transmit pressure to the clutch housing.

[0016] As a further improvement of this utility model, the clutch unit also includes a V-shaped sealing ring, the opening of which is disposed on the side opposite to the clutch plate;

[0017] The floating disk has a receiving groove on its peripheral wall, and the V-shaped sealing ring is placed in the receiving groove. At the same time, the two lips of the V-shaped sealing ring elastically abut against the inner side of the outer peripheral wall and the bottom surface of the receiving groove, respectively.

[0018] As a further improvement of this utility model, the frame is a rectangular frame structure formed by sequentially splicing together the front profile, left profile, rear profile and right profile.

[0019] The axle is axially rotatable and positioned by two axle seats to the corresponding positions of the left and right profiles, respectively.

[0020] As a further improvement of this utility model, the correction drive unit includes a connecting seat, a correction cylinder and a connecting rod. The connecting seat is disposed on the bearing seat of the right profile, the correction cylinder is disposed on the outside of the right profile, one end of the connecting rod is connected to the connecting seat, and the other end is connected to the piston rod of the correction cylinder.

[0021] As a further improvement of this utility model, the left profile and the right profile are provided with two axle seat positions corresponding to the axle, and axle seat positioning grooves are respectively provided; the two axle seats are respectively clearance fit with the axle seat positioning grooves, wherein the axle seat on the left profile is also fixedly connected to the left profile by a fixing block.

[0022] As a further improvement of this utility model, two axles are provided, and the two axles are respectively positioned at the front and rear ends of the frame. The two axles are defined as a drive axle and a driven axle, respectively. The driven axle is provided at the rear end of the frame through an axle seat, and the two ends of the driven axle are respectively provided with a traveling wheel through bearings.

[0023] The drive shaft located at the front end of the vehicle frame is equipped with the drive assembly, the clutch unit, and the correction drive unit; the passive shaft is equipped with the correction drive unit.

[0024] The beneficial effects of this utility model are:

[0025] 1. The clutch unit controls the connection and separation of the straightening wheel and the axle. During normal travel, the straightening wheel rotates synchronously with the axle to ensure travel stability. When straightening is required, the straightening wheel is separated from the axle, and the straightening drive unit realizes fast and flexible straightening action, which improves the flexibility and straightening efficiency of the textile machine. At the same time, it reduces the friction between the straightening wheel and the ground during the straightening process, increases the service life of the travel device, and reduces the power input for straightening.

[0026] 2. The clutch unit adopts a pneumatic control method, which is simple in structure, easy to operate, and has a fast response speed. It can quickly switch between working state and clutch state according to actual needs, thereby improving the automation level and operating efficiency of the equipment. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of this utility model;

[0028] Figure 2 This is an exploded structural diagram of the present invention;

[0029] Figure 3 This is a top view and a cross-sectional view along the AA direction of this utility model;

[0030] Figure 4 This utility model Figure 3 A magnified diagram of f in the figure;

[0031] Figure 5 This is an exploded structural diagram of the clutch unit of this utility model.

[0032] Referring to the accompanying drawings, the following explanations are provided:

[0033] 1. Frame; 11. Front profile; 12. Left profile; 13. Rear profile; 14. Right profile; 15. Axle seat positioning groove; 16. Fixing block; 2. Axle; 21. Gas flow channel; 3. Drive assembly; 31. Gear; 32. Motor; 33. Worm gear; 4. Running wheel; 41. First bearing; 5. Correcting wheel; 51. Second bearing; 6. Clutch unit; 61. Air pressure chamber; 62. Clutch housing; 621. Flatbed body; 622. Hollow cylinder; 6221, intermediate flow channel; 623, outer peripheral wall; 63, floating disc; 631, central hole; 632, first end face; 633, second end face; 634, receiving groove; 64, clutch cover; 641, connecting part; 642, mounting part; 65, clutch plate; 66, V-shaped seal ring; 661, lip; 7, correction drive unit; 71, connecting seat; 72, correction cylinder; 73, connecting rod; 8, locking nut; 9, shaft seat. Detailed Implementation

[0034] The preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

[0035] See Figures 1 to 5 This utility model provides a walking device based on clutch-driven correction control, mainly applied to textile machines, for realizing the movement of the textile machine and position correction during movement. The walking device includes a frame 1 installed at the bottom of the textile machine, with a drive assembly 3 on the frame 1 for driving the rotation of an axle 2. Walking wheels 4 and correction wheels 5 are respectively installed at the left and right ends of the axle 2. The walking wheels 4 are fixedly connected to the axle 2 via a first bearing 41, ensuring that the walking wheels 4 rotate synchronously with the axle 2, realizing the basic walking function of the textile machine. The correction wheels 5 are floatingly connected to the axle 2 via a second bearing 51, allowing the correction wheels 5 to connect or disconnect from the axle 2 under the control of a clutch unit 6. A clutch unit 6 is located at the right end of the axle 2, and a correction drive unit 7 is located on the side of the frame 1 corresponding to the correction wheel 5, for driving the end of the axle 2 connected to it to make minor angle adjustments, thereby realizing the correction action of the correction wheel 5.

[0036] To clearly illustrate the specific structure and working principle of the walking device, this embodiment is illustrated in the appendix. Figure 1 For reference, we define the visual front as the front side, the back as the back side, the left side as the left side, and the right side as the right side.

[0037] See Figure 1 and Figure 2 The frame 1, serving as the supporting foundation for the entire walking device, adopts a rectangular frame structure design. It is constructed by sequentially splicing together the front profile 11, left profile 12, rear profile 13, and right profile 14, ensuring the stability and strength of the frame. In this embodiment, two axles 2 are provided, positioned at the front and rear ends of the frame 1 respectively. The two axles 2 are defined as the drive shaft and the driven shaft, respectively. The drive shaft at the front end of the frame 1 is equipped with a drive assembly 3, a clutch unit 6, and a correction drive unit 7 to drive the movement of the walking device. The drive assembly 3 includes a gear 31 mounted on the axle 2 and a worm gear 33 meshing with the gear 31 and driven by a motor 32. The motor 32 drives the worm gear 33 to rotate, which in turn drives the gear 31 to rotate, thereby driving the axle 2 to rotate, realizing the walking function of the textile machine. The drive assembly 3 uses a gear 31 and worm gear 33 transmission method, which provides smooth transmission and high torque, meeting the power requirements for the walking of the textile machine.

[0038] Additionally, a passive shaft at the rear of the frame 1 is mounted to the rear of the frame 1 via axle seat 9. This passive shaft itself does not rotate, but each end is fitted with a traveling wheel 4 via bearings. The traveling wheels 4 rotate as the frame moves with the drive shaft. Furthermore, a correction drive unit 7 is provided on the passive shaft side of the frame 1. Its correction logic is the same as that of the drive shaft, but because the traveling wheels 4 are connected to the passive shaft via bearings, the traveling wheels 4 continue to rotate during correction, preventing hard friction with the ground. This ensures that correction operations can be performed when the traveling device moves forward or backward, achieving stable operation and flexible correction of the textile machine.

[0039] Furthermore, the two axle seats connected to the drive shaft are respectively equipped with a first bearing 41 and a second bearing 51, so that the drive shaft can rotate around its central axis. The frame 1 has axle seat positioning grooves 15 at the corresponding axle seat positions, with the axle seat 9 and the axle seat positioning grooves 15 forming a clearance fit to provide space for the movement of the axle during correction. The axle seat 9 located on the left profile 12 is fixed to the left profile 12 by a fixing block 16, thereby forming a stable connection between the traveling wheel and the frame, enhancing the stability of the traveling device during movement.

[0040] See Figures 3 to 5The clutch unit 6 includes a clutch housing 62 that rotates synchronously with the axle 2 and is equipped with a pressure chamber 61. A floating disc 63 is housed within the pressure chamber 61, and the floating disc 63 is movably fitted onto the axle 2 and fixedly connected to the second bearing 51. The clutch housing 62 is fitted onto the axle 2 and locked to the right end of the axle 2 by a locking nut 8. A clutch cover 64 is fixedly connected to the side of the clutch housing 62 facing the steering wheel 5. Together, they form the receiving space for the floating disc 63. The end faces of the floating disc 63 and the clutch housing 62 that are close to each other form the pressure chamber 61. An air passage 21 is provided on the axle 2. One end of the air passage 21 is connected to an external air source, and the other end is connected to the pressure chamber 61.

[0041] Furthermore, the clutch housing 62 is integrally formed, comprising a flat plate body 621, a hollow cylinder 622, and an outer peripheral wall 623. The flat plate body 621 is located near the locking nut 8, and the hollow cylinder 622 is coaxially arranged with the flat plate body 621 and extends into the accommodating space. The clutch housing 62 is sleeved on the axle 2 through the hollow cylinder 622. The hollow cylinder 622 and the axle 2 are connected by a key, so that the clutch unit 6 rotates synchronously with the axle 2 when the axle 2 rotates. The outer peripheral wall 623 is arranged around the outer edge of the flat plate body 621 and is in the same direction as the hollow cylinder 622. The hollow cylinder 622 is provided with an intermediate flow channel 6221 that connects the gas flow channel 21 and the pressure chamber 61. The clutch cover 64 has an annular plate structure, including a connecting part 641 for fixing to the end face of the outer peripheral wall 623, and a mounting part 642 extending radially inward from the connecting part 641. A clutch plate 65 is provided on the end face of the mounting part 642 near the floating disk 63.

[0042] The floating disc 63 includes a central hole 631, a first end face 632, and a second end face 633. The central hole 631 extends through the floating disc 63 axially and is movably fitted onto the hollow cylinder 622. The first end face 632 is located on the side near the flat plate body 621 and forms a sealed air pressure chamber 61 with the inner side of the flat plate body 621. The second end face 633 is located on the side facing the clutch plate 65 and is used to transmit pressure to the clutch housing 62. The clutch plate 65 is made of friction material to ensure the stability of the connection between the floating disc and the clutch housing under pressure, so that the steering wheel rotates synchronously with the axle during operation.

[0043] Furthermore, the clutch unit 6 also includes a V-shaped sealing ring 66, with the opening of the V-shaped sealing ring 66 facing away from the clutch plate 65. A receiving groove 634 is provided around the peripheral wall of the floating disc 63, and the V-shaped sealing ring 66 is placed in this receiving groove 634. Simultaneously, the two lips 661 of the V-shaped sealing ring 66 elastically abut against the inner surface of the outer peripheral wall 623 and the bottom surface of the receiving groove 634, respectively. The V-shaped sealing ring 66 ensures the sealing of the pressure chamber 61, prevents gas leakage, guarantees the normal operation of the clutch unit 6, and extends the service life of the equipment.

[0044] The following describes the operation of the drive shaft: During the operation of the traveling device, the air pressure chamber 61 is continuously supplied with air to maintain a stable internal pressure. Under this pressure, the floating disc 63 is pressed tightly against the clutch plate 65 of the clutch housing 62, causing the straightening wheel 5 and the axle 2 to rotate synchronously. At this time, the clutch unit is in working condition, and the textile machine can maintain a stable straight-line travel trajectory.

[0045] When the textile machine needs to perform a correction operation, the air supply to the air chamber 61 is cut off, and its internal pressure drops. As the pressure is released, the floating disc 63 separates from the clutch housing 62, causing the power transmission between the correction wheel 5 and the axle 2 to be interrupted, and the clutch unit enters the disengaged state. At this time, the correction drive unit 7 intervenes, driving the axle 2 to move, thereby driving the correction wheel 5 to complete the correction action.

[0046] During the alignment process, the traveling wheels, driven by the drive assembly, propel the entire frame to move. Meanwhile, the alignment wheel 5, disconnected from the axle 2, passively rotates freely around the axle 2 during the frame's movement. This effectively avoids friction between the alignment wheel 5 and the ground, significantly improving the smoothness and efficiency of the alignment process, while reducing energy consumption and power load, and enhancing the stability and reliability of the equipment.

[0047] Currently, the position deviation of the walking device is detected by a sensor, namely a magnetic navigation sensor. The sensor monitors the position and attitude of the walking device in real time. By detecting the magnetic field signal of the ground magnetic strip, the deviation between the actual position of the walking device and the target path is determined. Based on the deviation value and the control algorithm, the required correction amount is calculated. Then, the correction amount is converted into a control signal of the correction drive unit 7 to adjust the angle of the axle (i.e., the movement angle of the correction wheel), so that the walking device drives the textile machine to move along the predetermined trajectory.

[0048] The walking device based on clutch-driven correction control provided by this utility model controls the connection and separation of the correction wheel and the axle through a clutch unit. During normal walking, the correction wheel rotates synchronously with the axle to ensure walking stability. When correction is needed, the correction wheel separates from the axle, and the correction drive unit achieves fast and flexible correction action, improving the flexibility and correction efficiency of the textile machine's movement. Simultaneously, it reduces friction between the correction wheel and the ground during correction, extending the service life of the walking device and reducing the power input for correction. The clutch unit adopts pneumatic control, has a simple structure, is easy to operate, and has a fast response speed. It can quickly switch between working and clutch states according to actual needs, improving the automation level and operating efficiency of the equipment.

[0049] Many specific details have been set forth in the above description to provide a full understanding of this utility model. However, the above description is only a preferred embodiment of this utility model, and this utility model can be implemented in many other ways different from those described herein. Therefore, this utility model is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solution of this utility model using the methods and techniques disclosed above, or modify it into equivalent embodiments with equivalent changes, without departing from the scope of the technical solution of this utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model, without departing from the content of the technical solution of this utility model, shall still fall within the protection scope of the technical solution of this utility model.

Claims

1. A walking device based on clutch correction control, comprising a frame (1) disposed at the bottom of a textile machine, wherein the frame (1) is provided with a drive assembly (3) for driving the axle (2) to rotate, characterized in that: The axle (2) is provided with a traveling wheel (4) and a correction wheel (5) at its left and right ends respectively. The traveling wheel (4) is fixed to the axle (2) through a first bearing (41), and the correction wheel (5) is floatingly connected to the axle (2) through a second bearing (51). The axle (2) is provided with a clutch unit (6) at its right end, and the frame (1) is provided with a correction drive unit (7) on the side corresponding to the correction wheel (5) for driving the axle (2) to move. The clutch unit (6) includes a clutch housing (62) that rotates synchronously with the axle (2) and is provided with a pressure chamber (61). A floating disc (63) is provided in the pressure chamber (61). The floating disc (63) is movably sleeved on the axle (2) and fixedly connected to the second bearing (51). When air is supplied to the air pressure chamber (61), the floating disc (63) is pressed against the clutch housing (62), causing the steering wheel (5) to rotate synchronously with the axle (2), and the clutch unit (6) is in working condition; when the air supply to the air pressure chamber (61) is cut off, the floating disc (63) separates from the clutch housing (62), causing the steering wheel (5) to be disconnected from the axle (2), and the clutch unit (6) is in clutch state.

2. The walking device based on clutch correction control according to claim 1, characterized in that: The clutch housing (62) is fitted onto the axle (2) and locked to the right end of the axle (2) by a locking nut (8). A clutch cover (64) is fixed to the side facing the steering wheel (5). Together, they form the receiving space of the floating disc (63). The end faces of the floating disc (63) and the clutch housing (62) that are close to each other form the air pressure chamber (61). The axle (2) is provided with a gas flow channel (21), one end of which is connected to an external gas source and the other end is connected to the pressure chamber (61).

3. The walking device based on clutch correction control according to claim 2, characterized in that: The clutch housing (62) includes a flat body (621) disposed near the locking nut (8), a hollow column (622) coaxially disposed with the flat body (621) and extending into the accommodating space, and an outer peripheral wall (623) arranged around the outer edge of the flat body (621) and in the same direction as the hollow column (622). The hollow column (622) is sleeved on the axle (2) and has an intermediate flow channel (6221) that connects the gas flow channel (21) and the pressure chamber (61). The clutch cover (64) has an annular sheet structure, including a connecting part (641) for fixing to the end face of the outer peripheral wall (623), and a mounting part (642) extending radially inward from the connecting part (641). The mounting part (642) has a clutch plate (65) on its end face near the floating disk (63).

4. The walking device based on clutch correction control according to claim 3, characterized in that, The floating disk (63) includes: A central hole (631) is provided through the axial direction of the floating disk (63) and is movably sleeved on the hollow column (622). The first end face (632) is disposed on the side close to the plate body (621) and forms a sealed air pressure chamber (61) with the inner side of the plate body (621). The second end face (633) is disposed on the side facing the clutch plate (65) and is used to transmit pressure to the clutch housing (62).

5. The walking device based on clutch correction control according to claim 4, characterized in that: The clutch unit (6) also includes a V-shaped sealing ring (66), the opening of which is disposed on the side opposite to the clutch disc (65); The floating disk (63) has a receiving groove (634) on its peripheral wall. The V-shaped sealing ring (66) is placed in the receiving groove (634). At the same time, the two lips (661) of the V-shaped sealing ring (66) elastically abut against the inner side of the outer peripheral wall (623) and the bottom surface of the receiving groove (634).

6. The walking device based on clutch correction control according to claim 3, characterized in that: The frame (1) is a rectangular frame structure formed by splicing the front profile (11), left profile (12), rear profile (13) and right profile (14) end to end. The axle (2) is axially rotatable and positioned by two axle seats (9) to the corresponding positions of the left profile (12) and the right profile (14).

7. The walking device based on clutch correction control according to claim 6, characterized in that: The correction drive unit (7) includes a connecting seat (71), a correction cylinder (72) and a connecting rod (73). The connecting seat (71) is located on the bearing seat (9) of the right profile (14). The correction cylinder (72) is located on the outside of the right profile (14). One end of the connecting rod (73) is connected to the connecting seat (71), and the other end is connected to the piston rod of the correction cylinder (72).

8. The walking device based on clutch correction control according to claim 7, characterized in that: The left profile (12) and the right profile (14) are provided with two axle seats (9) corresponding to the axle (2), and axle seat positioning grooves (15) are respectively provided; the two axle seats (9) are respectively in clearance fit with the axle seat positioning grooves (15), wherein the axle seat (9) located on the left profile (12) is also fixed to the left profile (12) by a fixing block (16).

9. The walking device based on clutch correction control according to claim 1, characterized in that: There are two axles (2), which are respectively positioned at the front and rear ends of the frame (1). The two axles (2) are defined as the drive shaft and the passive shaft, respectively. The passive shaft is located at the rear end of the frame (1) through the axle seat (9), and the two ends of the passive shaft are respectively provided with a traveling wheel (4) through bearings. The drive shaft located at the front end of the frame (1) is equipped with the drive assembly (3), the clutch unit (6) and the correction drive unit (7); the passive shaft is equipped with the correction drive unit (7).

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