Intelligent loading robot for cloth

Abstract

The invention discloses an intelligent loading robot for cloth, which belongs to the technical field of cloth loading and unloading equipment and comprises a base, two groups of horizontal adjusting mechanisms, a conveying mechanism and a luffing mechanism. According to the intelligent loading robot for the cloth, the horizontal adjusting mechanism, the conveying mechanism and the luffing mechanism are arranged, through cooperative work of the conveying mechanism, the luffing mechanism and the horizontal adjusting mechanism, the cloth can be automatically conveyed to the designated position in the carriage and stacked according to a certain sequence, the loading efficiency and the automation degree are greatly improved, and the labor intensity of workers is reduced. And the complexity and the labor intensity of manual operation are reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of cloth handling equipment, and particularly relates to an intelligent cloth loading robot. Background Art

[0002] In the textile, clothing, and logistics industries, the loading and unloading operations of cloth have always been a labor-intensive and inefficient process. Traditionally, the cloth loading process mainly relies on manual operation, which not only consumes time and effort but also poses safety hazards such as worker injuries and cloth damage. With the rapid development of automation and intelligent technologies, more and more enterprises are seeking automated solutions to improve production efficiency and safety.

[0003] In recent years, significant progress has been made in the field of logistics automation with robot technology, and various intelligent robots such as handling robots and palletizing robots have been widely used in industrial production.

[0004] However, for the specific application scenario of cloth loading, the existing robot technology still has some deficiencies. Firstly, the cloth loading process requires high flexibility of the robot, and the robot needs to be able to make precise adjustments according to factors such as the carriage size and stacking position. However, most of the existing cloth loading robots have fixed structures and are difficult to adapt to the loading requirements in different scenarios. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent cloth loading robot to solve the technical problem that most of the existing cloth loading robots have fixed structures and are difficult to adapt to the loading requirements in different scenarios.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions: An intelligent cloth loading robot, comprising: a base; two sets of horizontal adjustment mechanisms, both installed on the base and capable of moving horizontally along the base; a conveying mechanism, installed on the two sets of horizontal adjustment mechanisms for conveying cloth; and a luffing mechanism for adjusting the tilt angle of the conveying mechanism.

[0007] Preferably, the horizontal adjustment mechanism includes: two guide rails, both installed on the top surface of the base; a mounting plate located above the two guide rails; two sliding seats, both installed on the bottom surface of the mounting plate and respectively slidably connected to the two guide rails; a mounting disc installed on the top surface of the mounting plate; a mounting rack installed on the top surface of the base; a first reduction motor installed on the mounting plate; and a driving gear installed on the power output shaft of the first reduction motor and meshed with the mounting rack.

[0008] Preferably, a first mounting seat and a second mounting seat are respectively installed on the top surfaces of the two mounting discs.

[0009] Preferably, the conveying mechanism includes: a conveying fixed arm hinged to the first mounting seat; a first mechanical telescopic arm; a second mechanical telescopic arm; a third mechanical telescopic arm, the third mechanical telescopic arm, the second mechanical telescopic arm, the first mechanical telescopic arm and the conveying fixed arm are sequentially slidably connected; a total conveying power assembly of the robotic arm, mounted on the conveying fixed arm, for adjusting the telescopic lengths of the first mechanical telescopic arm, the second mechanical telescopic arm and the third mechanical telescopic arm according to the conveying distance of the fabric; a luffing tooling, rotatably connected to the third mechanical telescopic arm, for receiving the fabric conveyed by the third mechanical telescopic arm and transferring the fabric to a designated location.

[0010] Preferably, the conveying fixed arm is composed of a servo motor, a reducer, a first gear and a first rack; the first mechanical telescopic arm, the second mechanical telescopic arm and the third mechanical telescopic arm are all composed of a servo motor, a reducer, a second gear and a second rack; the third mechanical telescopic arm further includes a second reduction motor and a driven conveying roller; the total conveying power assembly of the robotic arm is composed of a servo motor, a reducer and a conveyor belt tensioning assembly.

[0011] Preferably, the conveying mechanism further includes: a main conveyor belt, sleeved on the driven conveying roller and the conveyor belt tensioning assembly, for conveying the fabric.

[0012] Preferably, the luffing tooling includes: a mounting frame fixedly connected to the power output shaft of the second reduction motor; a first belt roller rotatably mounted on the mounting frame; a second belt roller rotatably mounted on the mounting frame; a second conveyor belt sleeved on the first belt roller and the second belt roller; a third reduction motor mounted on the mounting frame for driving the first belt roller to rotate; two guide rollers, both mounted on the mounting frame and both in contact with the second conveyor belt.

[0013] Preferably, the luffing mechanism includes: two hinge seats, both hinged to the second mounting seat; a top plate located directly above the two hinge seats; two lead screws, the two ends of which are respectively rotatably connected to the hinge seats and the top plate; four guide rods, the two ends of which are respectively fixedly connected to the hinge seats and the top plate; two moving frames slidably connected to the guide rods; two lead screw nuts respectively sleeved on the two lead screws and respectively penetrating and mounted on the two moving frames; two vertical plates respectively fixedly connected to both sides of the conveying fixed arm; a connecting frame connected to the two vertical plates and connected to the two moving frames; a driving assembly for driving the two lead screws to rotate simultaneously.

[0014] Preferably, the driving assembly includes: a double-shaft reduction motor mounted on the top surface of the top plate; two commutators, both mounted on the top surface of the top plate, the output ends of which are fixedly connected to the upper ends of the lead screws, and the input ends of which are fixedly connected to the output shaft of the double-shaft reduction motor.

[0015] Preferably, the intelligent cloth loading robot further includes a fault diagnosis system, which includes: multiple sensors; a data processing unit for real-time collecting data from multiple sensors and judging whether the operating states of various components are normal; a display unit for displaying the operating states of various components and fault warning information; a storage unit storing a fault gene library; wherein, when the sensors detect abnormal signals, the data processing unit analyzes according to the fault models in the fault gene library to judge whether there is a potential fault risk. If there is a potential fault risk, the data processing unit calculates the probability of the fault occurring and the expected occurrence time, and issues a warning prompt of the corresponding level through the display unit.

[0016] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are as follows: 1. The intelligent cloth loading robot in the present invention can automatically transport the cloth to the designated position in the carriage and stack it in a certain order by setting a horizontal adjustment mechanism, a conveying mechanism and a luffing mechanism, and through the coordinated work of the conveying mechanism, the luffing mechanism and the horizontal adjustment mechanism, which greatly improves the loading efficiency and automation degree, reduces the tediousness of manual operation and the labor intensity, and can also adapt to the loading requirements in different scenarios.

[0017] 2. The luffing mechanism in the present invention can accurately adjust the inclination angle of the conveying mechanism by setting a hinge seat, a top plate, a lead screw, a guide rod, a moving frame, a lead screw nut, a vertical plate, a connecting frame and a driving component, so that the cloth can be smoothly moved into the carriage, avoiding problems such as cloth damage or uneven loading caused by improper angles.

[0018] 3. The conveying mechanism in the present invention adopts a multi-section mechanical telescopic arm design, and can flexibly adjust the length according to the cloth conveying distance and the space in the carriage.

[0019] 4. The fault diagnosis system in the present invention is provided with multiple sensors, a data processing unit, a display unit and a storage unit. When the sensors detect abnormal signals, the data processing unit analyzes according to the fault models in the fault gene library to judge whether there is a potential fault risk. If there is a potential fault risk, the data processing unit calculates the probability of the fault occurring and the expected occurrence time, and issues a warning prompt of the corresponding level through the display unit to remind the operator to take corresponding maintenance measures to avoid the occurrence of faults, improving the reliability and service life of the system. Description of the Drawings

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0021] Figure 1 is the three-dimensional view of the cloth intelligent loading robot in the present invention Figure 1 ; Figure 2 in the present invention Figure 1 is the enlarged schematic view of part A; Figure 3 is the three-dimensional view of the cloth intelligent loading robot in the present invention Figure 2 ; Figure 4 is the three-dimensional view of the luffing tooling in the present invention; Figure 5 is the assembly structure schematic view of the luffing tooling and the third mechanical telescopic arm in the present invention; Figure 6 is the three-dimensional view of the cloth intelligent loading robot in the present invention Figure 3 ; Figure 7 in the present invention Figure 6 is the enlarged schematic view of part B; Figure 8 is the front view of the cloth intelligent loading robot in the present invention; Figure 9 is the three-dimensional view of the luffing mechanism in the present invention; Reference numerals: 100, base; 110, horizontal adjustment mechanism; 111, guide rail; 112, mounting plate; 113, sliding seat; 114, mounting disc; 115, mounting rack; 116, first reduction motor; 117, driving gear; 120, first mounting seat; 130, second mounting seat; 200, conveying mechanism; 210, conveying fixed arm; 220, first mechanical telescopic arm; 230, second mechanical telescopic arm; 240, third mechanical telescopic arm; 241, second reduction motor; 242, driven conveying roller; 250, total conveying power assembly of the robotic arm; 260, total conveyor belt; 270, luffing tooling; 271, mounting frame; 272, first belt roller; 273, second belt roller; 274, second conveyor belt; 275, third reduction motor; 276, guide roller; 280, material receiving mechanism; 281, material receiving plate; 282, support frame; 300, luffing mechanism; 301, hinge seat; 302, top plate; 303, lead screw; 304, guide rod; 305, moving frame; 306, lead screw nut; 307, vertical plate; 308, connecting frame; 310, driving assembly; 311, double-shaft reduction motor; 312, commutator. Detailed implementation mode

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the protection scope of the present invention.

[0023] Embodiment 1: As Figure 1 、 Figure 3 、 Figure 5 、 Figure 6 and Figure 9 shown, an intelligent cloth loading robot includes a base 100, two sets of horizontal adjustment mechanisms 110, a conveying mechanism 200 and a luffing mechanism 300.

[0024] The base 100 is welded by 200*200*10 square tubes and serves to support the intelligent cloth loading robot. The two sets of horizontal adjustment mechanisms 110 are both installed on the base 100, and the horizontal adjustment mechanism 110 can move horizontally along the base 100; the conveying mechanism 200 is installed on the two sets of horizontal adjustment mechanisms 110, and the conveying mechanism 200 is used to convey cloth; the luffing mechanism 300 is used to adjust the inclination angle of the conveying mechanism 200.

[0025] Specifically, when the cloth needs to be stacked in the carriage, the angle of the conveying mechanism 200 is adjusted by the luffing mechanism 300, and the horizontal position of the conveying mechanism 200 is adjusted by the two sets of horizontal adjustment mechanisms 110, so that one end of the conveying mechanism 200 is located at the designated position in the carriage; Then, the cloth to be conveyed is placed on the conveying mechanism 200, and the cloth is transported by the conveying mechanism 200 to the carriage, which is convenient for stacking the cloth in the carriage.

[0026] As Figure 3 shown, the horizontal adjustment mechanism 110 includes two guide rails 111, a mounting plate 112, two sliding seats 113, a mounting disk 114, a mounting rack 115, a first reduction motor 116 and a driving gear 117. The two guide rails 111 are both installed on the top surface of the base 100; the mounting plate 112 is located above the two guide rails 111; the two sliding seats 113 are both installed on the bottom surface of the mounting plate 112, and the two sliding seats 113 are respectively slidably connected to the two guide rails 111; the mounting disk 114 is installed on the top surface of the mounting plate 112; the mounting rack 115 is installed on the top surface of the base 100; the first reduction motor 116 is installed on the mounting plate 112; the driving gear 117 is installed on the power output shaft of the first reduction motor 116, and the driving gear 117 is meshed with the mounting rack 115.

[0027] Specifically, when the first reduction motor 116 operates, its power output shaft drives the driving gear 117 to rotate. Since the driving gear 117 is meshed and connected with the mounting rack 115, the rotating driving gear 117 drives the mounting plate 112 to move, thereby causing the two sliding seats 113 to move along the two guide rails 111, and further driving the mounting disc 114 to move.

[0028] As Figure 1 shown, a first mounting seat 120 and a second mounting seat 130 are respectively mounted on the top surfaces of the two mounting discs 114.

[0029] As Figures 3 - 8 shown, the conveying mechanism 200 includes a conveying fixed arm 210, a first mechanical telescopic arm 220, a second mechanical telescopic arm 230, a third mechanical telescopic arm 240, a total conveying power assembly 250 for the robotic arm, and a luffing tooling 270.

[0030] The conveying fixed arm 210 is hinged to the first mounting seat 120; the third mechanical telescopic arm 240, the second mechanical telescopic arm 230, the first mechanical telescopic arm 220, and the conveying fixed arm 210 are sequentially slidably connected; the total conveying power assembly 250 for the robotic arm is mounted on the conveying fixed arm 210, and the total conveying power assembly 250 for the robotic arm is used to adjust the telescopic lengths of the first mechanical telescopic arm 220, the second mechanical telescopic arm 230, and the third mechanical telescopic arm 240 according to the cloth conveying distance.

[0031] The luffing tooling 270 is rotatably connected to the third mechanical telescopic arm 240, and the luffing tooling 270 is used to receive the cloth conveyed by the third mechanical telescopic arm 240 and transfer the cloth to a designated location.

[0032] Specifically, when the total conveying power assembly 250 for the robotic arm operates, the telescopic lengths of the first mechanical telescopic arm 220, the second mechanical telescopic arm 230, and the third mechanical telescopic arm 240 can be adjusted.

[0033] As Figure 1 and Figure 3 shown, the conveying mechanism 200 further includes a material receiving mechanism 280. The material receiving mechanism 280 includes two material receiving plates 281. A plurality of support frames 282 are provided on the opposite sides of the two material receiving plates 281. The support frames 282 are fixedly connected to the first mechanical telescopic arm 220. The cloth to be transported can pass through between the two material receiving plates 281.

[0034] As Figures 3 - 8As shown, the conveying fixed arm 210 consists of a servo motor, a speed reducer, a first gear, and a first rack; the first mechanical telescopic arm 220, the second mechanical telescopic arm 230, and the third mechanical telescopic arm 240 all consist of a servo motor, a speed reducer, a second gear, and a second rack; the servo motors in the conveying fixed arm 210, the first mechanical telescopic arm 220, the second mechanical telescopic arm 230, and the third mechanical telescopic arm 240 are all ABB BSM series servo motors, with a rated power of 1.5 kW, a rated speed of 3000 rpm, and a maximum torque of 14.3 N·m. The speed reducer is a planetary speed reducer with a reduction ratio of 1:25. The first gear and the second gear are both standard spur cylindrical gears with a module of 2, a tooth number of 25, and a material of 40Cr steel after quenching and tempering treatment, with a hardness of HRC42 - 47. The first rack is a standard rack with the same module, a length of 1500 mm, and a material of 40Cr steel after carburizing and quenching treatment, with a hardness reaching HRC55 - 60. The second rack has the same structure and material as the first rack.

[0035] The conveying fixed arm 210, the first mechanical telescopic arm 220, the second mechanical telescopic arm 230, and the third mechanical telescopic arm 240 all perform telescopic movements driven by servo motors to adapt to the cloth conveying requirements at different distances.

[0036] The total conveying power assembly 250 of the robotic arm consists of a servo motor, a speed reducer, and a conveyor belt tensioning assembly. The servo motor in the total conveying power assembly 250 of the robotic arm is a Mitsubishi HG - SR series servo motor, with a rated power of 2.0 kW, a rated speed of 2500 rpm, and a maximum torque of 19.1 N·m. The speed reducer is a planetary speed reducer with a reduction ratio of 1:15. The third mechanical telescopic arm 240 also includes a second reduction motor 241 and a driven conveyor roller 242.

[0037] As Figure 1 and Figure 3 shown, the conveying mechanism 200 also includes a main conveyor belt 260, which is sleeved on the driven conveyor roller 242 and the conveyor belt tensioning assembly. The main conveyor belt 260 is used for conveying cloth.

[0038] Specifically, the conveyor belt tensioning assembly applies an appropriate pre - tightening force to the main conveyor belt 260 through a tensioning wheel and a tensioning spring to ensure that the main conveyor belt 260 does not slip or become loose during operation, improving the conveying efficiency and stability.

[0039] As Figure 4 and Figure 7 shown, the amplitude - changing tooling 270 includes a mounting frame 271, a first belt roller 272, a second belt roller 273, a second conveyor belt 274, a third reduction motor 275, and two guide rollers 276.

[0040] The mounting bracket 271 is fixedly connected to the power output shaft of the second reduction motor 241; the first belt roller 272 is rotatably mounted on the mounting bracket 271; the second belt roller 273 is rotatably mounted on the mounting bracket 271; the second conveyor belt 274 is sleeved on the first belt roller 272 and the second belt roller 273; the third reduction motor 275 is mounted on the mounting bracket 271, and the third reduction motor 275 is used to drive the first belt roller 272 to rotate; the third reduction motor 275 drives the first belt roller 272 to rotate through a pulley and a transmission belt, thereby driving the second conveyor belt 274 to move. Both of the two guide rollers 276 are mounted on the mounting bracket 271, and both of the two guide rollers 276 are in contact with the second conveyor belt 274.

[0041] Specifically, after the second conveyor belt 274 receives the cloth conveyed by the main conveyor belt 260, the third reduction motor 275 is started, so that the third reduction motor 275 drives the first belt roller 272 to rotate through a pulley and a transmission belt, thereby driving the second conveyor belt 274 to move, and further driving the cloth to move. When the cloth reaches the end of the mounting bracket 271, the second reduction motor 241 is started, so that the second reduction motor 241 drives the mounting bracket 271 to rotate, making the second conveyor belt 274 in an inclined state, and thus the cloth on the second conveyor belt 274 rolls off the second conveyor belt 274.

[0042] As Figure 9 shown, the luffing mechanism 300 includes two hinge seats 301, a top plate 302, two lead screws 303, four guide rods 304, four guide rods 304, two moving frames 305, two lead screw nuts 306, two vertical plates 307, a connecting frame 308 and a drive assembly 310.

[0043] Both of the two hinge seats 301 are hinged to the second mounting seat 130; the top plate 302 is located directly above the two hinge seats 301; the two ends of the lead screw 303 are respectively rotatably connected to the hinge seat 301 and the top plate 302; the two ends of the four guide rods 304 are respectively fixedly connected to the hinge seat 301 and the top plate 302; the two moving frames 305 are slidably connected to the guide rods 304; the two lead screw nuts 306 are respectively sleeved on the two lead screws 303, and the two lead screw nuts 306 respectively penetrate through and are mounted on the two moving frames 305; the two vertical plates 307 are respectively fixedly connected to both sides of the conveying fixed arm 210; the connecting frame 308 is connected to the two vertical plates 307, and the connecting frame 308 is connected to the two moving frames 305; the drive assembly 310 is used to drive the two lead screws 303 to rotate simultaneously.

[0044] Specifically, when the driving assembly 310 is running, it will drive the two lead screws 303 to rotate at the same time, thereby causing the two lead screw nuts to move upward or downward at the same time, thereby driving the two movable frames 305 to move, thereby driving the connecting frame 308 to move, and then driving the first mechanical telescopic arm 220 to move through the connecting plate, thereby adjusting the angle of the first mechanical telescopic arm 220, and then adjusting the inclination angle of the variable amplitude tooling 270.

[0045] like Figure 9 As shown, the drive assembly 310 includes a dual-axis reduction motor 311 and two commutators 312. The dual-axis reduction motor 311 is mounted on the top surface of the top plate 302; the two commutators 312 are both mounted on the top surface of the top plate 302, the output end of the commutator 312 is fixedly connected to the upper end of the screw rod 303, and the input end of the commutator 312 is fixedly connected to the output shaft of the dual-axis reduction motor 311.

[0046] Specifically, when the dual-axis reduction motor 311 is running, the transmission direction will be changed through the commutator 312, thereby driving the lead screw 303 to rotate, and then driving the lead screw nut to move upward or downward, converting the rotational motion into linear motion, thereby realizing the lifting and lowering motion of the variable amplitude tooling 270 in the vertical direction.

[0047] Working principle: During specific use, according to the position of the carriage of the cloth transport vehicle, by adjusting the overall length of the conveying mechanism 200, the variable-length tooling 270 is extended into the carriage, and then by starting the dual-axis reduction motor 311, the transmission direction is changed through the commutator 312, thereby driving the two lead screws 303 to rotate, thereby driving the two lead screw nuts to move upward or downward, thereby driving the two moving frames 305 to move, thereby driving the connecting frame 308 to move, and then driving the first mechanical telescopic arm 220 to move through the connecting plate, adjusting the angle of the first mechanical telescopic arm 220, and thereby adjusting the inclination angle of the variable-length tooling 270.

[0048] After the adjustment is completed, the cloth to be transported is dropped from above the material receiving mechanism 280 , and the cloth falls onto the main conveyor belt 260 through the two material receiving plates 281 , and then is driven by the main conveyor belt 260 to move toward the direction of the variable amplitude tooling 270 .

[0049] Then, after the second conveyor belt 274 receives the cloth conveyed by the main conveyor belt 260, the third reduction motor 275 is started, and the third reduction motor 275 drives the first belt roller 272 to rotate through a pulley and a transmission belt, thereby driving the second conveyor belt 274 to move, and further driving the cloth to move. When the cloth reaches the end of the mounting frame 271, the second reduction motor 241 is started to drive the mounting frame 271 to rotate, so that the second conveyor belt 274 is in an inclined state, and thus the cloth on the second conveyor belt 274 rolls off the second conveyor belt 274 and rolls into the carriage. After completion, the second reduction motor 241 is started to reset the mounting frame 271 and the second conveyor belt 274.

[0050] Then, the receiving mechanism 280 receives the cloth to be transported. The cloth will fall onto the main conveyor belt 260 between the two receiving plates 281. The cloth will be conveyed to the amplitude-changing tooling 270. At the same time, by starting two first reduction motors 116, the driving gears 117 are driven to rotate. Since the driving gears 117 are meshed and connected with the mounting racks 115, the rotating driving gears 117 will drive the mounting plates 112 to move, thereby causing the two sliding seats 113 to move along the two guide rails 111, and further driving the mounting disks 114 to move. Further driving the first mounting seat 120 and the second mounting seat 130 to move, and further driving the conveying mechanism 200 to translate, so that the amplitude-changing tooling 270 is on one side of the previous dropped cloth. Then, the second reduction motor 241 is started to drive the mounting frame 271 to rotate, so that the second conveyor belt 274 is in an inclined state, and thus the cloth on the second conveyor belt 274 rolls off the second conveyor belt 274 and rolls into the carriage, making the cloth on one side of the previous cloth. After completion, the second reduction motor 241 is started to reset the mounting frame 271 and the second conveyor belt 274.

[0051] In this way, a layer of cloth can be fully covered at the bottom of the carriage, and then multiple cloths can be stacked layer by layer in the carriage in the order from bottom to top and from inside to outside.

[0052] Embodiment 2: Under the condition that other parts are the same as those in Embodiment 1, the difference between this embodiment and Embodiment 1 lies in that: An intelligent cloth loading robot further includes a fault diagnosis system. The fault diagnosis system includes multiple sensors, a data processing unit, a display unit, and a storage unit storing a fault gene library. The fault diagnosis system is used to monitor the running states of all components in real time, and when an abnormality is detected, fault diagnosis is performed through the data processing unit, and a warning prompt is issued through the display unit before the fault occurs.

[0053] The sensors in the fault diagnosis system include vibration sensors, temperature sensors, and current sensors.

[0054] The vibration sensor is a piezoelectric acceleration sensor with a measurement range of 0 - 500Hz, a sensitivity of 100mV / g, and is installed on the base 100, the luffing mechanism 300, the total conveying power assembly 250 of the robotic arm, the conveying fixed arm 210, the first mechanical telescopic arm 220, the second mechanical telescopic arm 230, the third mechanical telescopic arm 240, and the luffing tooling 270 for monitoring the vibration conditions of each component. The temperature sensor is a PT100 platinum resistance temperature sensor with a measurement range of -50°C to 150°C and an accuracy of ±0.1°C, and is installed at each reduction motor, servo motor, reducer, and bearing for monitoring the temperature changes of each component. The current sensor is a Hall effect current sensor with a measurement range of 0 - 50A and an accuracy of ±1%, and is installed in the power supply lines of each reduction motor and each servo motor for monitoring the current changes of each servo motor and each reduction motor.

[0055] The data processing unit uses an industrial-grade embedded computer equipped with an Intel Core i5 processor with a main frequency of 3.0GHz, 8GB of memory, and a storage capacity of 256GB. The data processing unit is connected to each sensor through an industrial Ethernet to collect sensor data in real time, and analyzes and processes it according to the fault models in the fault gene library to determine whether the operating status of each component is normal.

[0056] The display unit uses a 10.1-inch industrial touch screen with a resolution of 1280×800, a brightness of 500cd / m², and a contrast ratio of 1000:1. The display unit is connected to the data processing unit through an HDMI interface for displaying the operating status of each component and fault warning information.

[0057] The storage unit uses an industrial-grade solid-state drive with a capacity of 1TB, a read speed of 550MB / s, and a write speed of 520MB / s. The storage unit stores a fault gene library containing various possible fault modes, fault characteristics, and fault diagnosis rules. The fault gene library is established based on a large amount of historical operation data and fault cases, and is continuously optimized and updated through machine learning algorithms.

[0058] The fault diagnosis system can give an early warning of possible key component failures 72 hours in advance, and the fault location accuracy reaches 98%. When the sensor detects an abnormal signal, the data processing unit will analyze it according to the fault models in the fault gene library to determine whether there is a potential fault risk. If there is a potential fault risk, the data processing unit will calculate the probability of the fault occurring and the expected occurrence time, and issue a warning prompt through the display unit to remind the operator to take corresponding maintenance measures to avoid the occurrence of the fault.

[0059] Embodiment 3: Under the condition that other parts are the same as those in Embodiment 2, the difference between this embodiment and Embodiment 2 is that: The vibration signals collected by the vibration sensor are transmitted to the data processing unit through a shielded cable. The data processing unit performs spectral analysis on the vibration signals and extracts vibration characteristic parameters such as vibration amplitude, frequency, and phase to judge the operating status of each component.

[0060] The temperature signals collected by the temperature sensor are transmitted to the data processing unit through a shielded cable. The data processing unit processes the temperature signals and extracts the temperature change trend to judge the thermal status of each component.

[0061] The current sensors are fixed on the power lines of each servo motor and each reduction motor by a snap-on mounting method without the need to cut off the power line, which is convenient for installation and maintenance. The current signals collected by the current sensors are transmitted to the data processing unit through a shielded cable. The data processing unit processes the current signals and extracts current change characteristics such as current amplitude, waveform, and harmonic content to judge the load status and health condition of each servo motor.

[0062] The data processing unit uses an industrial-grade embedded computer equipped with an Intel Core i5 processor with a main frequency of 3.0 GHz, 8 GB of memory, and a storage capacity of 256 GB. The data processing unit is connected to each sensor through an industrial Ethernet to collect sensor data in real time and analyzes and processes it according to the fault models in the fault gene library to judge whether the operating status of each component is normal.

[0063] The data processing unit uses multi-sensor data fusion technology to comprehensively analyze the data of vibration sensors, temperature sensors, and current sensors to improve the accuracy and reliability of fault diagnosis. For example, when the current of a certain servo motor suddenly increases, and at the same time the temperature of the servo motor also begins to rise, and the vibration sensor detects an abnormal vibration frequency, the data processing unit will comprehensively analyze this information and judge that there may be problems such as bearing failure or overloading of the servo motor.

[0064] The data processing unit uses deep learning algorithms to establish characteristic models of various faults based on historical operation data and fault cases to achieve early identification and warning of faults. The data processing unit will continuously learn and update the fault models to improve the accuracy of fault diagnosis and the warning ability.

[0065] Through the comprehensive application of vibration sensors, temperature sensors, and current sensors, the fault diagnosis system can comprehensively monitor the operating status of each component of the loading robot control system, timely discover potential fault risks, issue early warning prompts in advance, avoid the occurrence of faults, and improve the reliability and service life of the system.

[0066] Example 4: Under the condition that other parts are the same as those in Example 3, the difference between this example and Example 3 is that: The fault diagnosis system adopts predictive maintenance technology based on big data and artificial intelligence. By analyzing historical operation data and fault cases, it establishes development models for various faults to achieve early identification and warning of faults. The core of the fault diagnosis system is the fault gene pool, which contains various possible fault modes, fault characteristics, and fault diagnosis rules.

[0067] The fault gene pool is established based on a large amount of historical operation data and fault cases and contains the following types of fault models: Mechanical fault models, such as bearing faults, gear faults, coupling faults, etc., are mainly identified through vibration characteristics and temperature changes.

[0068] Electrical fault models, such as servo motor faults, driver faults, encoder faults, etc., are mainly identified through current characteristics and position errors.

[0069] Control system fault models, such as communication faults, algorithm faults, improper parameter settings, etc., are mainly identified through system response characteristics and control accuracy.

[0070] Fault models caused by environmental factors, such as too high temperature, too high humidity, dust pollution, etc., are mainly identified through environmental parameters and system performance changes.

[0071] The fault diagnosis system adopts a multi-level fault warning mechanism. According to the severity and urgency of faults, it is divided into the following warning levels: Level 1 warning (green): The system is running normally without fault risk.

[0072] Level 2 warning (yellow): The system shows slight anomalies but does not affect normal operation. It is recommended to check during the next maintenance.

[0073] Level 3 warning (orange): The system shows obvious anomalies and may have a fault within the next 72 hours. It is recommended to arrange maintenance as soon as possible.

[0074] Level 4 warning (red): The system shows serious anomalies and may have a fault in a short time. It is recommended to stop the machine for maintenance immediately.

[0075] The fault diagnosis system judges the health status and fault risk of each component by real-time monitoring the data of each sensor and combining the fault models in the fault gene pool. When it detects abnormal changes in the operation parameters of a certain component, the fault diagnosis system will calculate the probability of fault occurrence and the expected occurrence time according to the degree and trend of the abnormal changes, and issue a warning prompt of the corresponding level.

[0076] The fault diagnosis system adopts a self - learning mechanism to continuously optimize and update the fault model. When a fault actually occurs in the system, the fault diagnosis system will record various parameter changes and fault phenomena before the fault, compare them with the prediction results, analyze the accuracy of the prediction and the reasons for the errors, and adjust and optimize the fault model to improve the accuracy and timeliness of early warning.

[0077] Through long - term data accumulation and model optimization, the fault diagnosis system can give early warning of possible key component failures 72 hours in advance. 72 hours before the actual occurrence of the fault, the fault diagnosis system can detect potential fault risks, accurately point out the components and types of faults that may occur, provide sufficient time and clear maintenance directions for maintenance personnel, and greatly reduce the unplanned downtime and maintenance costs of the equipment.

[0078] As described above, it is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

[0079] The preferred embodiments of the present invention disclosed above are only used to help explain the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the present invention to only the specific embodiments. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and utilize the present invention well. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A cloth intelligent loading robot, characterized in that: include: base(100); Two sets of horizontal adjustment mechanisms (110), both mounted on the base (100) and capable of horizontally moving along the base (100); A conveying mechanism (200) is installed on the two sets of the horizontal adjustment mechanisms (110) and is used for conveying cloth; The amplitude changing mechanism (300) is used to adjust the inclination angle of the conveying mechanism (200).

2. The intelligent cloth loading robot according to claim 1, characterized in that: The level adjustment mechanism (110) comprises: Two guide rails (111) are both mounted on the top surface of the base (100); A mounting plate (112) located above the two guide rails (111); Two sliding seats (113) are both mounted on the bottom surface of the mounting plate (112) and are respectively slidably connected to the two guide rails (111); A mounting plate (114) mounted on the top surface of the mounting plate (112); Install the rack (115) on the top surface of the base (100); A first reduction motor (116) mounted on the mounting plate (112); A driving gear (117) is mounted on the power output shaft of the first reduction motor (116) and is meshedly connected with the mounting rack (115).

3. The intelligent cloth loading robot according to claim 2, characterized in that: A first mounting seat (120) and a second mounting seat (130) are respectively mounted on the top surfaces of the two mounting plates (114).

4. The intelligent cloth loading robot according to claim 3, characterized in that: The conveying mechanism (200) comprises: A conveying fixed arm (210) is hingedly connected to the first mounting seat (120); A first mechanical telescopic arm (220); A second mechanical telescopic arm (230); a third mechanical telescopic arm (240), wherein the third mechanical telescopic arm (240), the second mechanical telescopic arm (230), the first mechanical telescopic arm (220) and the transport fixed arm (210) are slidably connected in sequence; A mechanical arm total conveying power assembly (250), mounted on the conveying fixed arm (210), and used to adjust the telescopic lengths of the first mechanical telescopic arm (220), the second mechanical telescopic arm (230), and the third mechanical telescopic arm (240) according to the cloth conveying distance; The amplitude-changing tooling (270) is rotatably connected to the third mechanical telescopic arm (240) and is used to receive the cloth transported by the third mechanical telescopic arm (240) and transfer the cloth to a designated location.

5. The intelligent cloth loading robot according to claim 4, characterized in that: The conveying fixed arm (210) is composed of a servo motor, a reducer, a first gear and a first rack; The first mechanical telescopic arm (220), the second mechanical telescopic arm (230) and the third mechanical telescopic arm (240) are all composed of a servo motor, a reducer, a second gear and a second rack; The third mechanical telescopic arm (240) further comprises a second reduction motor (241) and a driven conveying roller (242); The mechanical arm total conveying power assembly (250) is composed of a servo motor, a reducer and a conveyor belt tensioning assembly.

6. The intelligent cloth loading robot according to claim 5, characterized in that: The conveying mechanism (200) further comprises: The main conveyor belt (260) is sleeved on the driven conveyor roller (242) and the conveyor belt tensioning assembly and is used for conveying cloth.

7. The intelligent cloth loading robot according to claim 5, characterized in that: The amplitude variation tool (270) comprises: A mounting frame (271) fixedly connected to a power output shaft of the second reduction motor (241); A first belt roller (272) rotatably mounted on the mounting frame (271); A second belt roller (273) rotatably mounted on the mounting frame (271); A second conveyor belt (274) is sleeved on the first belt roller (272) and the second belt roller (273); a third reduction motor (275), mounted on the mounting frame (271), and used to drive the first belt roller (272) to rotate; Two guide rollers (276) are both mounted on the mounting frame (271) and are in contact with the second conveyor belt (274).

8. The intelligent cloth loading robot according to claim 4, characterized in that: The amplitude changing mechanism (300) comprises: Two hinged seats (301), both hinged to the second mounting seat (130); A top plate (302) located directly above the two hinged seats (301); Two screw rods (303), both ends of which are rotatably connected to the hinge seat (301) and the top plate (302) respectively; Four guide rods (304), both ends of which are fixedly connected to the hinge seat (301) and the top plate (302) respectively; Two movable frames (305) are slidably connected to the guide rod (304); Two screw nuts (306) are respectively sleeved on the two screws (303) and respectively penetrated and installed on the two moving frames (305); Two vertical plates (307) are respectively fixedly connected to two sides of the conveying fixed arm (210); A connecting frame (308) connected to the two vertical plates (307) and connected to the two movable frames (305); The driving assembly (310) is used to drive the two screw rods (303) to rotate simultaneously.

9. The intelligent cloth loading robot according to claim 8, characterized in that: The driving assembly (310) comprises: A dual-axis reduction motor (311) is mounted on the top surface of the top plate (302); Two commutators (312) are both mounted on the top surface of the top plate (302), with their output ends fixedly connected to the upper end of the screw rod (303), and their input ends fixedly connected to the output shaft of the dual-axis reduction motor (311).

10. The intelligent cloth loading robot according to claim 9, characterized in that: Also included is a fault diagnosis system, the fault diagnosis system comprising: Multiple sensors; A data processing unit is used to collect data from multiple sensors in real time and determine whether the operating status of each component is normal; Display unit, used to display the operating status and fault warning information of each component; a storage unit storing a faulty gene pool; Among them, when the sensor detects an abnormal signal, the data processing unit will analyze it according to the fault model in the fault gene library to determine whether there is a potential fault risk. If there is a potential fault risk, the data processing unit will calculate the probability and expected time of occurrence of the fault, and issue a corresponding level of early warning through the display unit.

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