Cloth roll transport robot

Abstract

The application relates to the technical field of automatic conveying equipment, and discloses a cloth roll conveying robot, which comprises a chassis, a cloud platform rotating scanning device and a plurality of arc fork grabbing mechanisms installed on the chassis, the arc fork grabbing mechanism comprises a large swing arm and a C-shaped sliding ring at the top of the large swing arm, a first transmission shaft drives the large swing arm to rotate, and a second transmission shaft drives the C-shaped sliding ring to rotate; the cloud platform rotating scanning device comprises an arc rotating rod and a rotating platform, a scanning galvanometer is installed on the rotating platform, the scanning galvanometer rotates along with the rotating platform, when cloth is dropped, the arc rotating rod is controlled to rotate so that the opening of the arc rotating rod faces the cloth dropping direction, the cloth roll is prevented from being shielded, the first transmission shaft drives the large swing arm to rotate to a cloth dropping position, the second transmission shaft drives the C-shaped sliding ring to rotate so that the C-shaped sliding ring is horizontal to the ground, so that the cloth is more stable when being dropped, and after the cloth is dropped, the cloth roll is stably collected above the chassis, and when the cloth roll is conveyed, the rotating platform is rotated to scan the features of the roof, so that positioning and navigation are completed.

Description

Technical Field

[0001] This invention relates to the field of automated transportation equipment technology, specifically to a roll-of-cloth transportation robot. Background Technology

[0002] Fabric roll transport robots are devices that roll up woven fabric and store it in a designated location. In general, textile weaving workshops currently have workers pull small trolleys to lift the rolled fabric onto a vehicle and then manually pull it to the designated location for storage. This results in high labor intensity and low efficiency for workers. If the fabric is not rolled up in time, a large amount of fabric woven by the loom will be piled up in the workshop aisles, blocking the passage and posing a safety hazard. The fabric surface is also easily soiled, resulting in defective products.

[0003] The fabric roll transport robot requires laser navigation during transport. It uses a laser scanning mirror to scan surrounding objects to locate itself and then moves to the designated position. In existing technology, the laser scanning mirror is positioned relatively low on the machine and scans ground objects during navigation. However, in actual production factories, there are many machines and clutter on the ground, and the machine positions may change. Therefore, ground scanning is prone to errors, and the surrounding environment is too similar to identify the specific workstation. In contrast, the objects and shapes on the factory ceiling are relatively fixed and easy to identify.

[0004] When using a fabric roll robot to unload the woven fabric roll, the existing unloading mechanism uses a motor to drive a drive shaft to rotate, which results in a limited range of motion for the drive shaft and drive arm, affecting the fabric handling efficiency. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a fabric roll transport robot with the advantages of a rotating laser scanning mirror and automatic fabric drop, solving the problems of laser navigation being greatly affected by ground machines, the inability to identify the specific workstation due to overly similar surrounding environments, and the limited range of motion of the fabric drop drive arm.

[0007] (II) Technical Solution

[0008] To achieve the above objectives, the present invention provides the following technical solution: a fabric roll transport robot, comprising a chassis and a gimbal rotation scanning device mounted on the chassis. The chassis has multiple mounting slots, each containing an arc-fork gripping mechanism. The arc-fork gripping mechanism includes a large swing arm and a C-shaped sliding ring at the top of the swing arm. One side of the swing arm is connected to a first drive shaft, which drives the swing arm to rotate. The other side of the swing arm has a second drive shaft, which drives the C-shaped sliding ring to rotate. The gimbal rotation scanning device includes an arc-shaped rotating rod and a turntable, on which a... Equipped with a scanning galvanometer, which rotates with the turntable, the arc-shaped rotating rod is rotated during fabric drop to ensure its opening faces the fabric drop direction, preventing obstruction of the fabric roll. The first drive shaft drives the large swing arm to rotate to the fabric drop position, and the second drive shaft drives the C-shaped sliding ring to rotate, making it horizontal with the ground, thus making the fabric drop more stable. After the fabric drop is completed, the large swing arm and C-shaped sliding ring are retracted to the top of the chassis, and the chassis is started for transportation. The turntable on top of the gimbal rotates and scans the features of the roof and its surroundings to complete positioning and navigation, transporting the fabric to the designated location.

[0009] Preferably, an arc fork gripping mechanism includes: a large swing arm, the top of which is provided with a C-shaped sliding ring, the C-shaped sliding ring being slidably connected to the large swing arm; a linear drive component, the bottom two ends of which are connected to the two ends of the linear drive component, the middle of which meshes with a central shaft; a second drive shaft, one end of which is connected to a drive bar motor, and the other end of which is connected to the central shaft; and a first drive shaft, one end of which is connected to a swing arm motor, and the other end of which is connected to the large swing arm, the first drive shaft driving the large swing arm to rotate.

[0010] Preferably, the gimbal rotation scanning device includes: a scanning device base, the bottom of which is fixed inside a chassis; an arc-shaped rotating rod, the bottom of which is rotatably connected to the scanning device base; a turntable, which is rotatably connected to the top of the arc-shaped rotating rod, and a scanning galvanometer is mounted on the turntable; and a scanning rod motor, which is mounted on the scanning device base and drives the arc-shaped rotating rod to rotate.

[0011] Preferably, the connection between the second drive shaft and the drive bar motor is one of the following: coaxial relationship, gear misalignment transmission, and reducer plus motor transmission; the connection between the first drive shaft and the swing arm motor is one of the following: coaxial relationship, gear misalignment transmission, and reducer plus motor transmission; and the drive bar component is one of the following: chain, toothed belt, or stainless steel.

[0012] Preferably, the linear drive component is provided with two reverse steering wheels, each located on the outside of the linear drive component, and the reverse steering wheels apply pressure inward to the linear drive component to tighten it.

[0013] Preferably, the C-shaped sliding ring has a sliding ring side groove at the connection with the large swing arm, and the large swing arm has multiple side groove limiting blocks at the connection with the C-shaped sliding ring. Each side groove limiting block is locked in the corresponding sliding ring side groove, and the C-shaped sliding ring is slidably connected above the large swing arm through the side groove limiting blocks.

[0014] Preferably, the large swing arm includes two symmetrical single arms. The first drive shaft passes through one of the single arms and is fixedly connected to the single arm. The second drive shaft passes through the other single arm and is slidably connected to the single arm using a bearing at the connection point. The first drive shaft is inserted inside the second drive shaft. The rotation of the first drive shaft and the second drive shaft do not affect each other.

[0015] Preferably, the bottom of the arc-shaped rotating rod is provided with a lower rotating rod seat, the top of the arc-shaped rotating rod is provided with an upper rotating rod seat, the lower rotating rod seat is rotatably connected to the base of the scanning device, and the arc-shaped rotating rod is semi-circular.

[0016] Preferably, fixed scanning mirrors are provided on both sides of the upper seat of the rotating rod, and a driving device is provided inside the upper seat of the rotating rod to rotate the turntable. The fixed scanning mirrors and scanning galvanometers use lasers to scan the surrounding environment and distance of the roof.

[0017] Preferably, the chassis bottom is provided with multiple omnidirectional wheels and two drive wheels. Each omnidirectional wheel is rotatably connected to a corner of the chassis bottom, and each drive wheel is fixedly installed at the middle position of both ends of the chassis. Each drive wheel consists of two drive wheel bodies, and each drive wheel body is connected to a corresponding drive wheel motor. Each drive wheel motor can independently control the rotation speed of the corresponding drive wheel body. When driving straight, each drive wheel body maintains the same rotation speed. When turning, the two drive wheels are controlled to rotate at different speeds to complete the turning.

[0018] (III) Beneficial Effects

[0019] Compared with the prior art, the present invention provides a cloth roll transport robot, which has the following beneficial effects:

[0020] 1. In order to solve the problem of the limited range of motion of existing drive arms, this fabric roll transport robot uses a first drive shaft and a second drive shaft sleeved outside the first drive shaft to rotate in turn, thereby driving the large swing arm and the C-shaped sliding ring to rotate and cooperate. This ensures that the C-shaped sliding ring remains horizontal during the rotation of the large swing arm, thus keeping the received fabric roll balanced.

[0021] 2. In order to solve the problem of the many changes in factory ground markings and similar surrounding environments in existing technologies, the fabric roll transport robot has a rotatable turntable installed on the top of the arc-shaped rotating rod. The scanning galvanometer on the turntable performs a rotating three-dimensional scan of the factory roof, thereby improving the accuracy of navigation.

[0022] 3. In order to receive fabric from different directions, this fabric roll transport robot is equipped with a selectable semi-circular rotating rod that rotates under the drive of the bottom scanning rod motor, so that the opening of the rotating rod faces the position where the fabric roll falls, thus avoiding the turntable support rod from blocking the fabric roll.

[0023] 4. This fabric roll transport robot features a coaxial power transmission system that allows for a more compact structure. After the swing arm swings down, the C-shaped sliding ring can pick up lower items and sink to a position lower than the robot itself. After retraction, the weight of the item is positioned directly above the power transmission shaft, providing support and balancing the force. This reduces the stress on the coaxial structure during transport. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the present invention.

[0025] Figure 2 This is a front view of the present invention.

[0026] Figure 3 This is a side view of the present invention.

[0027] Figure 4 for Figure 3 A magnified view of a portion of region A in the middle.

[0028] Figure 5 This is a bottom view of the present invention.

[0029] Figure 6 This is a schematic diagram of the drive wheel structure of the present invention.

[0030] Figure 7 This is a schematic diagram of the universal wheel structure of the present invention.

[0031] Figure 8 This is a schematic diagram of the arc fork gripping mechanism of the present invention.

[0032] Figure 9 This is a schematic diagram of the arc fork gripping mechanism of the present invention from another angle.

[0033] Figure 10 This is a side view of the arc fork gripping mechanism of the present invention.

[0034] Figure 11 This is a front view of the gear gripping mechanism of the present invention.

[0035] Figure 12 This is a schematic diagram of the internal structure of the gear gripping mechanism of the present invention.

[0036] Figure 13 This is a schematic diagram of the gimbal rotation scanning device of the present invention.

[0037] Figure 14 for Figure 13 Enlarged view of the structure of region A in the image.

[0038] Figure 15 for Figure 13 Enlarged view of region B structure in the image.

[0039] In the diagram: 1. Chassis; 11. Mounting slot; 2. Gimbal rotation scanning device; 20. Scanning device base; 21. Turntable; 211. Turntable body; 212. Scanning galvanometer; 22. Upper seat of rotating rod; 221. Upper seat body; 222. Fixed scanning mirror; 23. Arc-shaped rotating rod; 24. Lower seat of rotating rod; 25. Scanning rod motor; 3. Arc-shaped fork gripping mechanism; 30. Gripping mechanism base; 31. C-shaped sliding ring; 311. Sliding ring side groove; 312. Sliding ring bottom groove; 32. Large swing arm; 321. Single... 322. Arm; 323. Side groove limiting block; 323. Reverse steering wheel; 3231. Reverse steering wheel buckle; 3232. Reverse steering wheel groove; 33. Swing arm motor; 331. First drive shaft; 34. Drive bar motor; 341. Second drive shaft; 342. Central shaft; 35. Line drive component; 4. Caster wheel; 41. Caster wheel seat; 42. Caster wheel bracket; 43. Caster wheel body; 5. Drive wheel; 51. Drive wheel seat; 52. Drive wheel motor; 53. Drive wheel body; 54. Shock-absorbing spring; 6. Ground scanner. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] Example 1:

[0042] This invention provides a roll transport robot with the following technical features.

[0043] like Figure 1-3 As shown, a fabric roll transport robot includes a chassis 1 and a gimbal rotation scanning device 2 mounted on the chassis 1. The chassis 1 has multiple mounting slots 11, and each mounting slot 11 is equipped with an arc fork gripping mechanism 3. The arc fork gripping mechanism 3 includes a large swing arm 32 and a C-shaped sliding ring 31 at the top of the large swing arm 32. One side of the large swing arm 32 is connected to a first drive shaft 331, which drives the large swing arm 32 to rotate. The other side of the large swing arm 32 is equipped with a second drive shaft 341, which drives the C-shaped sliding ring 31 to rotate. The gimbal rotation scanning device 2 includes an arc-shaped rotating rod 23 and a turntable 21. A scanning galvanometer 212 is mounted on the turntable 21, and the scanning galvanometer 212 rotates with the turntable 21.

[0044] Through the above-mentioned technical solution, when the fabric is dropped, the arc-shaped rotating rod 23 is rotated so that the opening of the arc-shaped rotating rod 23 faces the direction of the fabric drop to avoid obstructing the fabric roll. The first drive shaft 331 drives the large swing arm 32 to rotate to the fabric drop position, and the second drive shaft 341 drives the C-shaped sliding ring 31 to rotate so that it is horizontal with the ground, thereby making the fabric drop more stable. After the fabric drop is completed, the large swing arm 32 and the C-shaped sliding ring 31 are retracted to the top of the chassis 1, and the chassis 1 is started for transportation (this process is a linkage process. During the retraction of the large swing arm 32, the C-shaped sliding ring 31 is also moving to ensure that the goods are received in place, that is, when the upright position is reached, the item is in the middle and lowest point of the C-shaped sliding ring 31). The turntable 21 on the top of the gimbal rotating scanning device 2 rotates to scan the features of the roof to complete the positioning and navigation, and transport the fabric to the designated location.

[0045] like Figure 8 As shown, an arc fork gripping mechanism 3 includes a large swing arm 32, a linear drive component 35, a second drive shaft 341, a first drive shaft 331, and a gripping mechanism base 30.

[0046] like Figure 8-12 As shown, the top of the large swing arm 32 is provided with a C-shaped sliding ring 31, which is slidably connected to the large swing arm 32. The large swing arm 32 includes two symmetrical single arms 321 with a gap between them. The tops of the two single arms 321 are connected to both sides of the C-shaped sliding ring 31. The C-shaped sliding ring 31 has a sliding ring side groove 311 at the connection with each single arm 321. Each single arm 321 has multiple side groove limiting blocks 322 at the connection with the C-shaped sliding ring 31. Each side groove limiting block 322 is locked in the corresponding sliding ring side groove 311, allowing it to extend and retract along the middle of the swing arm in the groove. This allows the swing arm to move to both sides of the vehicle, enabling the vehicle to change direction without turning around and picking up objects from both sides.

[0047] like Figure 9 As shown, the bottom of the C-shaped sliding ring 31 is provided with a sliding ring bottom groove 312. The two ends of the sliding ring bottom groove 312 are fixedly connected to the two ends of the linear drive component 35. The middle section of the linear drive component 35 is engaged with the central shaft 342 at the bottom. The central shaft 342 is located at the bottom position between the two single arms 321. The two single arms 321 are provided with two symmetrical reverse steering wheels 323. The two reverse steering wheels 323 are located on the outside of the linear drive component 35. Each reverse steering wheel 323 is provided with a reverse steering wheel buckle 3231 at both ends. The connection between the single arm 321 and the corresponding reverse steering wheel 323 is provided with a reverse steering wheel groove 3232. Each reverse steering wheel buckle 3231 slides in the corresponding reverse steering wheel groove 3232. The two reverse steering wheels 323 are engaged on the outside of the linear drive component 35. The reverse steering wheels 323 apply pressure inward to tighten the linear drive component 35, so that the linear drive component 35 and the central shaft 342 are engaged.

[0048] The first drive shaft 331 passes through one of the single arms 321 and is fixedly connected to the single arm 321. The second drive shaft 341 passes through the other single arm 321 and is slidably connected to the single arm 321 using a bearing at the connection point. The first drive shaft 331 is locked inside the second drive shaft 341. The rotation of the first drive shaft 331 and the second drive shaft 341 does not affect each other. One end of the first drive shaft 331 is connected to the swing arm motor 33, and the other end of the first drive shaft 331 is connected to the large swing arm 32. The first drive shaft 331 drives the large swing arm 32 to rotate. One end of the second drive shaft 341 is connected to the transmission bar motor 34, and the other end of the second drive shaft 341 is connected to the central shaft 342. The swing arm motor 33 and the transmission bar motor 34 are fixedly connected to the gripping mechanism base 30.

[0049] The second drive shaft 341 is connected to the drive bar motor 34 in one of the following ways: coaxial connection, gear offset transmission, or reducer plus motor transmission. The first drive shaft 331 is connected to the swing arm motor 33 in one of the following ways: coaxial connection, gear offset transmission, or reducer plus motor transmission. The bar drive component 35 is one of the following: chain, toothed belt, or stainless steel.

[0050] The c-shaped sliding ring 31 has anti-slip texture at the position where it contacts the fabric roll to prevent the fabric roll from falling.

[0051] Through the aforementioned technical solution, the rotation of the transmission bar motor 34 drives the second transmission shaft 341 to rotate, the rotation of the second transmission shaft 341 drives the central shaft 342 to rotate, the rotation of the central shaft 342 drives the strip transmission component 35 to move, and the strip transmission component 35 pulls the C-shaped sliding ring 31 to rotate to the left and right ends; the rotation of the swing arm motor 33 drives the first transmission shaft 331 to rotate, the rotation of the first transmission shaft 331 drives the single arm 321 to rotate, and the rotation of the single arm 321 drives the entire strip transmission component 35 to rotate. The swing arm motor 33 and the transmission bar motor 34 can control the rotation of the strip transmission component 35 and the C-shaped sliding ring 31 on the strip transmission component 35 respectively, increasing the fabric dropping range.

[0052] Example 2:

[0053] This invention provides a roll transport robot, which, in addition to the technical solution of the above-mentioned example, also has the following technical features.

[0054] like Figure 13-15 As shown, the gimbal rotation scanning device 2 includes:

[0055] The scanning device base 20 is fixed to the bottom of the chassis 1.

[0056] An arc-shaped rotating rod 23 has a lower rotating rod seat 24 at its bottom and an upper rotating rod seat 22 at its top. The bottom of the lower rotating rod seat 24 is rotatably connected to the scanning device base 20.

[0057] Turntable 21 is rotatably connected to the top of rotating rod seat 22, and scanning galvanometer 212 is mounted on turntable 21.

[0058] The scanning rod motor 25 is mounted on the arc-shaped rotating rod 23 and drives the arc-shaped rotating rod 23 to rotate.

[0059] Fixed scanning mirrors 222 are provided on both sides of the rotating rod upper seat 22. A driving device is provided inside the rotating rod upper seat 22 to rotate the turntable 21. The fixed scanning mirrors 222 and the scanning galvanometer 212 use laser to scan the surrounding environment and the distance to the roof.

[0060] Through the above-mentioned technical solution, the scanning rod motor 25 drives the rotating rod lower seat 24 to rotate, and the rotation of the rotating rod lower seat 24 drives the arc rotating rod 23 to rotate. The arc rotating rod 23 can rotate to the left and right sides to avoid blocking the cloth rolls falling from different directions. The rotating rod upper seat 22 is equipped with a motor to drive the turntable 21 to rotate. During the rotation of the rotating rod 21, the scanning galvanometer 212 on the turntable 21 identifies the markers on the top of the factory to determine the current position and the direction to move forward. At the same time, the fixed scanning mirror 222 fixed on the rotating rod upper seat 22 can continuously scan the markers on the front and rear sides.

[0061] Example 3:

[0062] This invention provides a roll transport robot, which, in addition to the technical solution of the above-mentioned example, also has the following technical features.

[0063] like Figure 5 As shown, the chassis 1 is also equipped with ground scanners 6 at both the front and rear ends. The ground scanners 6 use lasers to detect obstacles on the ground on both the front and rear sides to avoid them.

[0064] like Figure 5 As shown, the bottom of the chassis 1 is provided with multiple casters 4 and two drive wheels 5. Each caster 4 is rotatably connected to the bottom corner of the chassis 1, and each drive wheel 5 is fixedly installed at the middle position of both ends of the chassis 1.

[0065] like Figure 6 As shown, a drive wheel 5 includes: a drive wheel seat 51, which is fixed to the bottom of the chassis 1; a drive wheel body 53, with two drive wheel bodies 53 on both sides of the drive wheel seat 51, each drive wheel body 53 being connected to a corresponding drive wheel motor 52, and each drive wheel motor 52 being able to independently control the rotational speed of the corresponding drive wheel body 53; and shock-absorbing springs 54, with multiple symmetrical shock-absorbing springs 54 provided between the drive wheel body 53 and the drive wheel seat 51 to achieve a shock-absorbing effect.

[0066] like Figure 7As shown, a caster wheel 4 includes: a caster wheel seat 41, which is fixed to the bottom of the chassis 1; a caster wheel bracket 42, which is rotatably connected to the caster wheel seat 41; and a caster wheel body 43, which is rotatably connected to the caster wheel bracket 42.

[0067] With the above-mentioned technical solution, during driving, the two drive wheels 53 in the drive wheel 5 drive at the same speed when driving straight, and the two drive wheels 53 achieve steering by differential speed when turning.

[0068] Working principle: During fabric drop: First, the scanning rod motor 25 controls the arc-shaped rotating rod 23 to rotate so that the opening of the arc-shaped rotating rod 23 faces the fabric drop direction to avoid obstructing the fabric roll. Second, the swing arm motor 33 rotates, driving the first transmission shaft 331 to rotate. The first transmission shaft 331 rotates, driving the single arm 321 to rotate. The single arm 321 rotates, driving the entire strip transmission component 35 to rotate, so that the strip transmission component 35 rotates to the fabric drop position. Third, the transmission strip motor 34 rotates, driving the second transmission shaft 341 to rotate. The second transmission shaft 341 rotates, driving the central shaft 342 to rotate. The central shaft 342 rotates, driving the strip transmission component 35 to pull. The strip transmission component 35 pulls the C-shaped sliding ring 31 to rotate to the left and right ends, so that the C-shaped sliding ring 31 rotates to a horizontal angle with the ground to prevent the fabric roll from falling. The swing arm motor 33 and the transmission bar motor 34 can control the strip drive component 35 and the C-type sliding ring 31 on the strip drive component 35 to rotate respectively, increasing the fabric drop range. At the same time, when the fabric roll is retracted, the strip drive component 35 and the C-type sliding ring 31 rotate synchronously to keep the C-type sliding ring 31 in a horizontal state, thereby keeping the fabric roll balanced.

[0069] During transportation: The scanning rod motor 25 drives the rotating rod lower seat 24 to rotate, and the rotation of the rotating rod lower seat 24 drives the arc rotating rod 23 to rotate. The arc rotating rod 23 rotates to the left and right sides to avoid blocking the cloth rolls falling from different directions. The rotating rod upper seat 22 is equipped with a motor to drive the turntable 21 to rotate. During the rotation of the turntable 21, the scanning galvanometer 212 on the turntable identifies the markers on the top of the factory to determine the current position and the direction to move forward. At the same time, the fixed scanning mirror 222 fixed on the rotating rod upper seat 22 can continuously scan the markers on the front and rear sides.

[0070] In summary, to address the issue of limited range of motion in existing drive arms, this fabric roll transport robot utilizes a first drive shaft 331 and a second drive shaft 341, which rotates relative to each other, thereby driving the large swing arm 32 and the C-shaped sliding ring 31 to rotate and cooperate. This ensures that the C-shaped sliding ring 31 remains horizontal during the rotation of the large swing arm 32, thus maintaining the balance of the received fabric roll.

[0071] To address the issue of varying factory ground markings in existing technologies, this fabric transport robot features a rotatable turntable 21 mounted on top of the arc-shaped rotating rod 23. The scanning galvanometer 212 on the turntable 21 performs a rotating three-dimensional scan of the factory roof, improving navigation accuracy.

[0072] In order to receive fabric from different directions, the fabric roll transport robot is equipped with a selectable semi-circular rotating rod 23, which rotates under the drive of the bottom scanning rod motor 25, so that the opening of the rotating rod 23 faces the position where the fabric roll falls, thus preventing the support rod of the turntable 21 from blocking the fabric roll.

[0073] This fabric roll transport robot features: 1. Heavy load capacity, capable of handling up to 1 ton of actual load, with the C-shaped sliding ring 31 extending outside the vehicle to pick up goods. 2. Multi-directional picking capability; the C-shaped sliding ring 31 can swing the arm to both sides of the vehicle to pick up goods on either side, achieving goods picking without turning around. 3. Navigation method employs a 3D laser real-time mapping mode, rather than the traditional method of scanning the ground or features at a certain height above the ground. It primarily scans building rooftops and their features, or surrounding objects higher than the robot itself, for navigation.

[0074] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0075] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A fabric roll transport robot, comprising a chassis (1) and a gimbal rotation scanning device (2) mounted on the chassis (1), wherein the chassis (1) is provided with a plurality of mounting slots (11), and an arc fork gripping mechanism (3) is installed in each mounting slot (11), characterized in that: The arc fork gripping mechanism (3) includes a large swing arm (32) and a C-shaped sliding ring (31) at the top of the large swing arm (32). The C-shaped sliding ring (31) is slidably connected to the large swing arm (32). A first drive shaft (331) is connected to one side of the large swing arm (32). The first drive shaft (331) drives the large swing arm (32) to rotate. One end of the first drive shaft (331) is connected to the swing arm motor (33). A second drive shaft (341) is provided on the other side of the large swing arm (32). The second drive shaft (341) drives the C-shaped sliding ring (31) to rotate. (The text also mentions a linear transmission component, but the connection to the main text is unclear.) 35), the bottom two ends of the c-shaped sliding ring (31) are connected to the two ends of the strip drive component (35), and the middle of the strip drive component (35) is engaged with the central shaft (342); one end of the second drive shaft (341) is connected to the drive bar motor (34), and the other end of the second drive shaft (341) is connected to the central shaft (342); the gimbal rotation scanning device (2) includes an arc-shaped rotating rod (23) and a turntable (21), and a scanning galvanometer (212) is installed on the turntable (21), and the scanning galvanometer (212) rotates with the turntable (21); The gimbal rotation scanning device (2) includes: The scanning device base (20) is fixed at the bottom inside the chassis (1); An arc-shaped rotating rod (23) is rotatably connected at its bottom to the base (20) of the scanning device; A turntable (21) is rotatably connected to the top of a scanning arc-shaped rotating rod (23), and a scanning galvanometer (212) is mounted on the turntable (21). A scanning bar motor (25) is mounted on the base (20) of the scanning device, and the scanning bar motor (25) drives the arc-shaped rotating rod (23) to rotate.

2. The fabric roll transport robot according to claim 1, characterized in that: The second drive shaft (341) is connected to the drive bar motor (34) in one of the following ways: coaxial relationship, gear misalignment transmission, or reducer plus motor transmission. The first drive shaft (331) is connected to the swing arm motor (33) in one of the following ways: coaxial relationship, gear misalignment transmission, or reducer plus motor transmission. The bar drive component (35) is a component used to transmit power, including but not limited to chain, synchronous belt, and wire rope.

3. The fabric roll transport robot according to claim 1, characterized in that: The linear drive component (35) is provided with two reverse steering wheels (323), each of which is located outside the linear drive component (35). The reverse steering wheels (323) apply pressure inward to the linear drive component (35) to tighten it.

4. The fabric roll transport robot according to claim 1, characterized in that: The c-shaped sliding ring (31) has a sliding ring side groove (311) at the connection with the large swing arm (32), and the large swing arm (32) has multiple side groove limiting blocks (322) at the connection with the c-shaped sliding ring (31). Each side groove limiting block (322) is locked in the corresponding sliding ring side groove (311).

5. A fabric roll transport robot according to claim 1, characterized in that: The large swing arm (32) includes two symmetrical single arms (321). The first drive shaft (331) passes through one of the single arms (321) and is fixedly connected to the single arm (321). The second drive shaft (341) passes through the other single arm (321) and is slidably connected to the single arm (321) through a bearing. The first drive shaft (331) is sleeved inside the second drive shaft (341).

6. A fabric roll transport robot according to claim 1, characterized in that: The bottom of the arc-shaped rotating rod (23) is provided with a lower rotating rod seat (24), and the top of the arc-shaped rotating rod (23) is provided with an upper rotating rod seat (22). The lower rotating rod seat (24) is rotatably connected to the base (20) of the scanning device. The arc-shaped rotating rod (23) is semi-circular.

7. A fabric roll transport robot according to claim 6, characterized in that: The upper seat of the rotating rod (22) is provided with fixed scanning mirrors (222) on both sides, and the upper seat of the rotating rod (22) is provided with a driving device to make the turntable (21) rotate.

8. A fabric roll transport robot according to claim 1, characterized in that: The chassis (1) is provided with multiple casters (4) and two drive wheels (5) at the bottom. Each caster (4) is rotatably connected to the corner of the bottom of the chassis (1). Each drive wheel (5) is fixedly installed at the middle position of both ends of the chassis (1). Each drive wheel (5) is composed of two drive wheel bodies (53), and each drive wheel body (53) is connected to a corresponding drive wheel motor (52).

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