Automatic cropping robot

Abstract

The invention provides an automatic cropping robot, and relates to the technical field of automatic cropping. The device comprises a transport vehicle, a cropping device and a cloth taking device, a shell is fixedly connected to the upper surface of the transport vehicle, electric universal wheels are rotatably connected to the inner side surface of the transport vehicle, a dustproof cover is installed on the upper surface of the shell, and a conveying device is arranged on the inner side surface of the shell; a pushing device is arranged in the middle of the conveying device, and a first motor is fixedly connected to the surface of the left side of the shell. Cloth is pushed to the conveying belt through cooperation of the conveying device, the pushing device and the cloth taking device, automatic cloth taking operation is achieved, use of electronic elements such as programming is reduced, the corresponding time of the electronic elements is shortened, the cloth taking efficiency is improved, and the production cost is reduced. The arc-shaped plate is moved out through cooperation of a first gear and a first arc-shaped toothed plate arranged in the conveying device, use of a motor is reduced, the response time is shortened, and the efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic cloth dropping, and specifically to an automatic cloth dropping robot. Background Art

[0002] An automatic cloth dropping robot is an automated device designed specifically for industrial production lines. It is mainly used to automatically place fabrics (such as textiles, non-woven fabrics, etc.) into designated working areas during the manufacturing process. Through an integrated control system, sensors, and robotic arms, this robot can precisely control the movement and dropping position of the fabric, thereby improving production efficiency, reducing the labor intensity of manual operations, and lowering the error rate. This robot is widely used in industries such as textiles, non-woven fabrics, and automotive interiors, and can significantly enhance the automation level and overall efficiency of the production line.

[0003] Existing cloth dropping robots will remove the fabric rolls on the storage rack and transport them to a designated location to facilitate subsequent operations on the fabric rolls. For example, in the invention patent with the publication number CN215244564U, a cloth dropping and transporting robot is described. It is recorded that through program setting, it automatically moves to the machine that needs to collect the fabric, and through program control of components such as arc gears, the transportation operation is achieved. However, this method of achieving the effect through program control is more vulnerable to electrical influence and prone to failures. When performing the fabric picking operation, it is necessary to control the motor to pick up the fabric, which is rather troublesome and has low efficiency. Moreover, it can only pick up a single type of fabric. Additionally, in the invention patent with the publication number CN117328202A, a large fabric roll loom automatic loading and unloading shaft driving mechanism is described. The cloth dropping operation is achieved by controlling the mechanical mechanism of the machine through a wireless communication controller. This method sets up a relatively complex mechanical structure to achieve the cloth dropping operation, resulting in higher production costs and failure rates. Summary of the Invention

[0004] (I) Technical Problems to be Solved Aiming at the deficiencies of the prior art, the present invention provides an automatic cloth dropping robot, which solves the problems of easy damage due to the use of more electronic components, low efficiency of fabric picking, and complex cloth dropping structure prone to failures.

[0005] (II) Technical Solutions To achieve the above object, the present invention is realized through the following technical solutions: An automatic cloth dropping robot includes a transport vehicle, a cloth dropping device, and a cloth taking device. The upper surface of the transport vehicle is fixedly connected with a housing. The inner surface of the transport vehicle is rotatably connected with electric universal wheels. The upper surface of the housing is provided with a dust cover. The inner surface of the housing is provided with a conveying device. A pushing device is arranged at the middle position of the conveying device. The left surface of the housing is fixedly connected with a first motor. The output end of the first motor is fixedly connected with a lead screw. The lead screw is rotatably connected to the inner surface of the housing. The thread directions provided on the lead screw are opposite.

[0006] Preferably, the conveying device includes a moving block, a second motor, a first worm, a first worm gear, a first rotating rod, a movable plate, an arc plate, a first arc-shaped toothed plate, a first gear, a limiting rotating rod, and a second rotating rod. The moving block is threadedly connected to the side surface of the lead screw. The moving block is slidably connected to the inner surface of the housing. The second motor is fixedly connected to the side surface of the moving block. The first worm is fixedly connected to the output end of the second motor. The first worm gear is meshed with the first worm.

[0007] Preferably, the first rotating rod is fixedly connected to the inner surface of the first worm gear. The first rotating rod is rotatably connected to the inner surface of the moving block. The movable plate is fixedly connected to the side surface of the first rotating rod. The arc plate is movably connected to the inner surface of the movable plate. The first arc-shaped toothed plate is fixedly connected to the side surface of the moving block near the upper end. The first gear is rotatably connected to the inner surface of the movable plate. The first gear is meshed with the first arc-shaped toothed plate. The lower side surface of the arc plate is provided with a second arc-shaped toothed plate. The first gear is meshed with the second arc-shaped toothed plate. The limiting rotating rod is rotatably connected to the inner side surface of the movable plate. The arc plate is movably connected to the inner surface of the movable plate through the limiting rotating rod. The second rotating rod is movably connected to the inner surface of the moving block. The first rotating rod is sleeved on the inner surface of the second rotating rod. A limiting block is fixedly connected to the side surface of the first rotating rod. The first rotating rod is movably connected to the inner surface of the second rotating rod through the limiting block.

[0008] Preferably, the pushing device includes a moving plate, a second worm, a second worm gear, a third rotating rod, a fourth worm, a fourth worm gear, a second gear, a pushing plate, an inclined panel, a first spring, and a first sliding rod. The moving plate is slidably connected to the inner surface of the housing. The second worm is rotatably connected to the inner surface of the housing. A fourth gear is fixedly connected to the lower surface of the second worm. A first toothed plate is provided on the side surface of the moving plate close to the second worm. The fourth gear is meshed with the first toothed plate. The second worm is meshed with the second worm gear.

[0009] Preferably, the second worm gear is fixedly connected to the side surface of one end of the third rotating rod, the fourth worm is fixedly connected to the side surface of the other end of the third rotating rod, the fourth worm is meshed and connected with the fourth worm gear, the second gear is fixedly connected to the upper side surface of the fourth worm gear, the pushing plate is slidably connected to the inner side surface of the housing, second toothed plates are arranged on both side surfaces of the pushing plate, and the second gear is meshed and connected with the second toothed plates.

[0010] Preferably, the inclined panel is fixedly connected to one end of the pushing plate, one end of the first sliding rod is fixedly connected to the side surface of the moving plate, the other end of the first sliding rod is slidably connected to the inner side surface of the housing, the first spring is sleeved on the side surface of the first sliding rod, one end of the first spring is fixedly connected to the side surface of the moving plate, and the other end of the first spring is fixedly connected to the inner side surface of the housing.

[0011] Preferably, the cloth dropping device includes a bottom plate, a lower pressing plate, a cloth, a cloth winding shaft, a fixing block, a sliding stop rod, a third gear, a second sliding baffle, a second spring and a second sliding rod. The lower pressing plate is slidably connected to the inner side surface of the bottom plate, the fixing block is fixedly connected to the upper surface of the bottom plate, the lower end of the sliding stop rod is fixedly connected to the upper surface of the lower pressing plate, and the sliding stop rod is slidably connected to the inner side surface of the fixing block.

[0012] Preferably, the second sliding baffle is slidably connected to the inner side surface of the fixing block, the third gear is rotatably connected to the inner side surface of the fixing block, third toothed plates are arranged on the side surfaces of the sliding stop rod and the second sliding baffle at the position of the third gear, the third gear is meshed and connected with the sliding stop rod and the second sliding baffle respectively through the third toothed plates, the cloth winding shaft is rotatably arranged on the upper surface of the fixing block, the cloth is installed on the side surface of the cloth winding shaft, the upper end of the second sliding rod is fixedly connected to the lower side surface of the lower pressing plate, the lower end of the second sliding rod is slidably connected to the inner side surface of the bottom plate, the second spring is sleeved on the side surface of the second sliding rod, the upper end of the second spring is fixedly connected to the lower side surface of the lower pressing plate, and the lower end of the second spring is fixedly connected to the inner side surface of the bottom plate.

[0013] Preferably, the cloth taking device includes a housing, a top rod, a limiting cylinder and a conveyor belt. The top rod is fixedly connected to the inner side surface of the housing, the limiting cylinder is installed on the inner side surface of the housing, and the conveyor belt is arranged on the inner side surface of the housing through the limiting cylinder.

[0014] Working principle: After the cloth 203 is wound around the cloth winding shaft 204, it is placed on the upper surface of the fixed block 205. The rolling is blocked by the sliding stop bar 206 at the position of the sliding stop bar 206. Then, the transport vehicle 1 moves to the lower pressing plate 202 through the electric omnidirectional wheels 5 below. The weight of the transport vehicle 1 drives the lower pressing plate 202 to sink, which in turn drives the sliding stop bar 206 to move downward, releasing the limit of the first cloth winding shaft 204. At the same time, the sliding stop bar 206 drives the second sliding baffle 208 to rise through the third gear 207 to limit the cloth winding shaft 204 at the rear. At the same time, a certain amount of power is given to the previous cloth winding shaft 204, causing the cloth winding shaft 204 to roll and fall onto the arc plate 607. Then, the transport vehicle 1 leaves the lower pressing plate 202, and the lower pressing plate 202 is restored to its original position by the second spring 209 below, driving the sliding stop bar 206 to rise and the second sliding baffle 208 to descend, limiting the second cloth winding shaft 204 through the sliding stop bar 206. Then, the transport vehicle 1 moves to the front of the ejector rod 302, and the second motor 602 is started to drive the first worm 603 to rotate. The rotation of the first worm 603 drives the first worm gear 604 to rotate. The first worm gear 604 drives the first rotating rod 605 to rotate. The rotation of the first rotating rod 605 drives the second rotating rod 611 to rotate together. At the same time, the first rotating rod 605 and the second rotating rod 611 drive the movable plate 606 to rotate. When the movable plate 606 rotates a certain angle, the first gear 609 moves on the first arc-shaped tooth plate 608. The first gear 609 rotates, and the rotation of the first gear 609 drives the arc plate 607 to move, thereby moving the cloth 203 to the position of the conveyor belt 304. Then, the transport vehicle 1 moves towards the housing 301, causing the ejector rod 302 to move to the position of the moving plate 701 and squeeze the moving plate 701 inward. The movement of the moving plate 701 drives the fourth gear to rotate through the first tooth plate. At the same time, the rotation of the fourth gear drives the second worm 702 to rotate. The rotation of the second worm 702 drives the second worm gear 703 to rotate. The rotation of the second worm gear 703 drives the fourth worm 705 to rotate through the third rotating rod 704. The rotation of the fourth worm 705 drives the fourth worm gear 706 to rotate. The fourth worm gear 706 drives the second gear 707 to rotate. The rotation of the second gear 707 drives the push plate 708 to move through the second tooth plate. The movement of the push plate 708 drives the inclined panel 709 to push the cloth 203 onto the conveyor belt 304 and be conveyed to the required place. When a longer cloth 203 needs to be transported, the dust-proof cover 8 can be removed. Then, the first motor 9 is started to drive the lead screw 10 to rotate. The rotation of the lead screw 10 drives the moving block 601 to move outward. The thread directions on the lead screw 10 are opposite. After the moving block 601 is moved, the first rotating rod 605 is also moved inside the second rotating rod 611. Then, the dust-proof cover 8 is reversely covered on the housing 4 to block dust, thus completing the adjustment.

[0015] (III) Beneficial effects The present invention provides an automatic cloth dropping robot, which has the following beneficial effects: 1. By setting the cooperation of the conveying device, the pushing device and the cloth taking device, the cloth is pushed onto the conveyor belt, realizing the operation of automatically taking the cloth, reducing the use of electronic components such as programming, reducing the response time of the electronic components, and improving the cloth taking efficiency.

[0016] 2. By setting the cooperation of the first gear and the first arc-shaped toothed plate in the conveying device, the arc-shaped plate is moved out, reducing the use of the motor, reducing the response time and improving the efficiency.

[0017] 3. When the lower pressing plate provided in the cloth dropping device moves downward, the limit on the cloth is released, and the cloth rolls to the arc-shaped plate through the second sliding baffle and gravity, reducing the use of electronic components and lowering the maintenance and manufacturing costs.

[0018] 4. By setting the lead screw and the dust cover, the spacing can be adjusted, so as to adapt to different cloths, and the use mode can be flexibly adjusted according to needs, which is convenient to use. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of an automatic cloth dropping robot proposed by the present invention; Figure 2 It is a schematic diagram of the internal structure of the housing of an automatic cloth dropping robot proposed by the present invention Figure 1 ; Figure 3 It is a schematic diagram of the internal structure of the housing of an automatic cloth dropping robot proposed by the present invention Figure 2 ; Figure 4 It is a schematic diagram of the structure of the conveying device of an automatic cloth dropping robot proposed by the present invention Figure 1 ; Figure 5 It is a schematic diagram of the structure of the conveying device of an automatic cloth dropping robot proposed by the present invention Figure 2 ; Figure 6 It is a schematic diagram of the structure of the pushing device of an automatic cloth dropping robot proposed by the present invention; Figure 7 It is a schematic diagram of the structure of the cloth dropping device of an automatic cloth dropping robot proposed by the present invention Figure 1 ; Figure 8 It is a schematic diagram of the structure of the cloth dropping device of an automatic cloth dropping robot proposed by the present invention Figure 2 ; Figure 9 It is a schematic diagram of the structure of the cloth dropping device of an automatic cloth dropping robot proposed by the present invention Figure 3 ; Figure 10 It is a schematic diagram of the structure of the cloth taking device of an automatic cloth dropping robot proposed by the present invention Figure 1 ; Figure 11 Structural Schematic of the Cloth Retrieving Device of an Automatic Cloth Dropping Robot Proposed by the Present Invention Figure 2 。

[0020] Among them, 1. Transport vehicle; 2. Cloth dropping device; 201. Bottom plate; 202. Lower pressing plate; 203. Cloth; 204. Cloth winding shaft; 205. Fixed block; 206. Sliding stop bar; 207. Third gear; 208. Second sliding baffle; 209. Second spring; 210. Second sliding rod; 3. Cloth retrieving device; 301. Housing; 302. Thrust rod; 303. Limiting cylinder; 304. Conveyor belt; 4. Housing; 5. Electric universal wheel; 6. Conveying device; 601. Moving block; 602. Second motor; 603. First worm; 604. First worm gear; 605. First rotating rod; 606. Movable plate; 607. Arc plate; 608. First arc-shaped tooth plate; 609. First gear; 610. Limiting rotating rod; 611. Second rotating rod; 7. Pushing device; 701. Moving plate; 702. Second worm; 703. Second worm gear; 704. Third rotating rod; 705. Fourth worm; 706. Fourth worm gear; 707. Second gear; 708. Pushing plate; 709. Inclined panel; 710. First spring; 711. First sliding rod; 8. Dust cover; 9. First motor; 10. Lead screw. Specific Embodiment

[0021] 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 shall fall within the protection scope of the present invention.

[0022] As Figure 1-11 shown, the embodiment of the present invention provides an automatic cloth dropping robot, including a transport vehicle 1, a cloth dropping device 2 and a cloth retrieving device 3. The upper surface of the transport vehicle 1 is fixedly connected with a housing 4. The inner surface of the transport vehicle 1 is rotatably connected with an electric universal wheel 5. The upper surface of the housing 4 is provided with a dust cover 8. The inner surface of the housing 4 is provided with a conveying device 6. A pushing device 7 is arranged at the middle position of the conveying device 6. The left surface of the housing 4 is fixedly connected with a first motor 9. The output end of the first motor 9 is fixedly connected with a lead screw 10. The lead screw 10 is rotatably connected to the inner surface of the housing 4, and the thread directions provided on the lead screw 10 are opposite.

[0023] The transport vehicle 1 is an existing device that can move horizontally and vertically. The threads with opposite directions provided on the lead screw 10 can drive the moving block 601 to rotate in opposite directions when rotating.

[0024] The conveying device 6 includes a moving block 601, a second motor 602, a first worm 603, a first worm gear 604, a first rotating rod 605, a movable plate 606, an arc-shaped plate 607, a first arc-shaped tooth plate 608, a first gear 609, a limiting rotating rod 610 and a second rotating rod 611. The moving block 601 is threadedly connected to the side surface of the lead screw 10, and the moving block 601 is slidably connected to the inner surface of the housing 4. The second motor 602 is fixedly connected to the side surface of the moving block 601. The first worm 603 is fixedly connected to the output end of the second motor 602. The first worm gear 604 is meshed with the first worm 603. The first rotating rod 605 is fixedly connected to the inner surface of the first worm gear 604. The first rotating rod 605 is rotatably connected to the inner surface of the moving block 601. The movable plate 606 is fixedly connected to the side surface of the first rotating rod 605. The arc-shaped plate 607 is movably connected to the inner surface of the movable plate 606. The first arc-shaped tooth plate 608 is fixedly connected to the side surface of the moving block 601 near the upper end. The first gear 609 is rotatably connected to the inner surface of the movable plate 606. The first gear 609 is meshed with the first arc-shaped tooth plate 608. A second arc-shaped tooth plate is provided on the lower side surface of the arc-shaped plate 607. The first gear 609 is meshed with the second arc-shaped tooth plate. The limiting rotating rod 610 is rotatably connected to the inner side surface of the movable plate 606. The arc-shaped plate 607 is movably connected to the inner surface of the movable plate 606 through the limiting rotating rod 610. The second rotating rod 611 is movably connected to the inner surface of the moving block 601. The first rotating rod 605 is sleeved on the inner surface of the second rotating rod 611. A limiting block is fixedly connected to the side surface of the first rotating rod 605. The first rotating rod 605 is movably connected to the inner surface of the second rotating rod 611 through the limiting block. Through the cooperation of the first arc-shaped tooth plate 608 and the first gear 609, the arc-shaped plate 607 can be extended forward The pushing device 7 includes a moving plate 701, a second worm 702, a second worm gear 703, a third rotating rod 704, a fourth worm 705, a fourth worm gear 706, a second gear 707, a pushing plate 708, an inclined panel 709, a first spring 710 and a first sliding rod 711. The moving plate 701 is slidably connected to the inner surface of the housing 4. The second worm 702 is rotatably connected to the inner surface of the housing 4. A fourth gear is fixedly connected to the lower surface of the second worm 702. A first toothed plate is provided on the side surface of the moving plate 701 close to the second worm 702. The fourth gear is meshed with the first toothed plate. The second worm 702 is meshed with the second worm gear 703. The second worm gear 703 is fixedly connected to the side surface of one end of the third rotating rod 704. The fourth worm 705 is fixedly connected to the side surface of the other end of the third rotating rod 704. The fourth worm 705 is meshed with the fourth worm gear 706. The second gear 707 is fixedly connected to the upper side surface of the fourth worm gear 706. The pushing plate 708 is slidably connected to the inner surface of the housing 4. Second toothed plates are provided on both side surfaces of the pushing plate 708. The second gear 707 is meshed with the second toothed plates. The inclined panel 709 is fixedly connected to one end of the pushing plate 708. One end of the first sliding rod 711 is fixedly connected to the side surface of the moving plate 701. The other end of the first sliding rod 711 is slidably connected to the inner surface of the housing 4. The first spring 710 is sleeved on the side surface of the first sliding rod 711. One end of the first spring 710 is fixedly connected to the side surface of the moving plate 701. The other end of the first spring 710 is fixedly connected to the inner surface of the housing 4. A vertical baffle is provided on the inclined panel 709 to prevent the cloth 203 from rolling during pushing, which may cause failure of pushing.

[0025] The cloth dropping device 2 includes a bottom plate 201, a lower pressing plate 202, a cloth 203, a cloth winding shaft 204, a fixing block 205, a sliding stop rod 206, a third gear 207, a second sliding baffle 208, a second spring 209 and a second sliding rod 210. The lower pressing plate 202 is slidably connected to the inner surface of the bottom plate 201. The fixing block 205 is fixedly connected to the upper surface of the bottom plate 201. The lower end of the sliding stop rod 206 is fixedly connected to the upper surface of the lower pressing plate 202. The sliding stop rod 206 is slidably connected to the inner surface of the fixing block 205. The second sliding baffle 208 is slidably connected to the inner surface of the fixing block 205. The third gear 207 is rotatably connected to the inner surface of the fixing block 205. Third tooth plates are provided on the side surfaces of the sliding stop rod 206 and the second sliding baffle 208 at the position of the third gear 207. The third gear 207 is meshed and connected to the sliding stop rod 206 and the second sliding baffle 208 respectively through the third tooth plates. The cloth winding shaft 204 is rotatably arranged on the upper surface of the fixing block 205. The cloth 203 is installed on the side surface of the cloth winding shaft 204. The upper end of the second sliding rod 210 is fixedly connected to the lower side surface of the lower pressing plate 202. The lower end of the second sliding rod 210 is slidably connected to the inner surface of the bottom plate 201. The second spring 209 is sleeved on the side surface of the second sliding rod 210. The upper end of the second spring 209 is fixedly connected to the lower side surface of the lower pressing plate 202. The lower end of the second spring 209 is fixedly connected to the inner surface of the bottom plate 201. When the second sliding baffle 208 rises, it will apply a certain force to the cloth winding shaft 204 to push out the cloth winding shaft 204.

[0026] The cloth taking device 3 includes a housing 301, a top rod 302, a limiting cylinder 303 and a conveyor belt 304. The top rod 302 is fixedly connected to the inner surface of the housing 301. The limiting cylinder 303 is installed on the inner surface of the housing 301. The conveyor belt 304 is arranged on the inner surface of the housing 301 through the limiting cylinder 303.

[0027] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An automatic cloth dropping robot, comprising a transport vehicle (1), a cloth dropping device (2) and a cloth picking device (3), characterized in that: The upper surface of the transport vehicle (1) is fixedly connected to a housing (4). The inner surface of the transport vehicle (1) is rotatably connected to an electric universal wheel (5). The upper surface of the housing (4) is provided with a dust cover (8). The inner surface of the housing (4) is provided with a conveying device (6). A pushing device (7) is arranged at the middle position of the conveying device (6). The left side surface of the housing (4) is fixedly connected to a first motor (9). The output end of the first motor (9) is fixedly connected to a lead screw (10). The lead screw (10) is rotatably connected to the inner surface of the housing (4). The thread directions on the lead screw (10) are opposite to each other.

2. The automatic cloth-falling robot according to claim 1, wherein: The conveying device (6) includes a moving block (601), a second motor (602), a first worm (603), a first worm gear (604), a first rotating rod (605), a movable plate (606), an arc plate (607), a first arc-shaped tooth plate (608), a first gear (609), a limiting rotating rod (610) and a second rotating rod (611). The moving block (601) is threadedly connected to the side surface of the lead screw (10). The moving block (601) is slidably connected to the inner surface of the housing (4). The second motor (602) is fixedly connected to the side surface of the moving block (601). The first worm (603) is fixedly connected to the output end of the second motor (602). The first worm gear (604) is meshed with the first worm (603).

3. The automatic cloth-falling robot according to claim 2, wherein: The first rotating rod (605) is fixedly connected to the inner surface of the first worm gear (604). The first rotating rod (605) is rotatably connected to the inner surface of the moving block (601). The movable plate (606) is fixedly connected to the side surface of the first rotating rod (605). The arc plate (607) is movably connected to the inner surface of the movable plate (606). The first arc-shaped tooth plate (608) is fixedly connected to the side surface of the moving block (601) near the upper end. The first gear (609) is rotatably connected to the inner surface of the movable plate (606). The first gear (609) is meshed with the first arc-shaped tooth plate (608). A second arc-shaped tooth plate is arranged on the lower side surface of the arc plate (607). The first gear (609) is meshed with the second arc-shaped tooth plate. The limiting rotating rod (610) is rotatably connected to the inner side surface of the movable plate (606). The arc plate (607) is movably connected to the inner surface of the movable plate (606) through the limiting rotating rod (610). The second rotating rod (611) is movably connected to the inner surface of the moving block (601). The first rotating rod (605) is sleeved on the inner surface of the second rotating rod (611). A limiting block is fixedly connected to the side surface of the first rotating rod (605). The first rotating rod (605) is movably connected to the inner surface of the second rotating rod (611) through the limiting block.

4. An automatic fabric dropping robot according to claim 1, wherein: The pushing device (7) includes a moving plate (701), a second worm (702), a second worm gear (703), a third rotating rod (704), a fourth worm (705), a fourth worm gear (706), a second gear (707), a pushing plate (708), an inclined panel (709), a first spring (710) and a first sliding rod (711). The moving plate (701) is slidably connected to the inner surface of the housing (4). The second worm (702) is rotatably connected to the inner surface of the housing (4). A fourth gear is fixedly connected to the lower surface of the second worm (702). A first toothed plate is provided on the side surface of the moving plate (701) close to the second worm (702). The fourth gear is meshed with the first toothed plate. The second worm (702) is meshed with the second worm gear (703).

5. The automatic cloth-falling robot according to claim 4, characterized in that: The second worm gear (703) is fixedly connected to the side surface of one end of the third rotating rod (704). The fourth worm (705) is fixedly connected to the side surface of the other end of the third rotating rod (704). The fourth worm (705) is meshed with the fourth worm gear (706). The second gear (707) is fixedly connected to the upper side surface of the fourth worm gear (706). The pushing plate (708) is slidably connected to the inner surface of the housing (4). Second toothed plates are provided on both side surfaces of the pushing plate (708). The second gear (707) is meshed with the second toothed plates.

6. The automatic cloth-falling robot according to claim 4, characterized in that: The inclined panel (709) is fixedly connected to one end of the pushing plate (708). One end of the first sliding rod (711) is fixedly connected to the side surface of the moving plate (701). The other end of the first sliding rod (711) is slidably connected to the inner surface of the housing (4). The first spring (710) is sleeved on the side surface of the first sliding rod (711). One end of the first spring (710) is fixedly connected to the side surface of the moving plate (701). The other end of the first spring (710) is fixedly connected to the inner surface of the housing (4).

7. An automatic cloth-falling robot according to claim 1, characterized in that: The cloth dropping device (2) includes a bottom plate (201), a lower pressing plate (202), a cloth (203), a cloth winding shaft (204), a fixing block (205), a sliding stop rod (206), a third gear (207), a second sliding baffle (208), a second spring (209) and a second sliding rod (210). The lower pressing plate (202) is slidably connected to the inner surface of the bottom plate (201). The fixing block (205) is fixedly connected to the upper surface of the bottom plate (201). The lower end of the sliding stop rod (206) is fixedly connected to the upper surface of the lower pressing plate (202). The sliding stop rod (206) is slidably connected to the inner surface of the fixing block (205).

8. The automatic cloth-falling robot according to claim 7, characterized in that: The second sliding baffle (208) is slidably connected to the inner surface of the fixed block (205), the third gear (207) is rotatably connected to the inner surface of the fixed block (205), third toothed plates are provided on the side surfaces of the sliding stop rod (206) and the second sliding baffle (208) at the position of the third gear (207), the third gear (207) is meshed and connected to the sliding stop rod (206) and the second sliding baffle (208) respectively through the third toothed plates, the cloth winding shaft (204) is rotatably arranged on the upper surface of the fixed block (205), the cloth (203) is installed on the side surface of the cloth winding shaft (204), the upper end of the second sliding rod (210) is fixedly connected to the lower side surface of the lower pressing plate (202), the lower end of the second sliding rod (210) is slidably connected to the inner surface of the bottom plate (201), the second spring (209) is sleeved on the side surface of the second sliding rod (210), the upper end of the second spring (209) is fixedly connected to the lower side surface of the lower pressing plate (202), and the lower end of the second spring (209) is fixedly connected to the inner surface of the bottom plate (201).

9. The automatic cloth-falling robot according to claim 1, characterized in that: The cloth taking device (3) includes a housing (301), a top rod (302), a limiting cylinder (303) and a conveyor belt (304), the top rod (302) is fixedly connected to the inner surface of the housing (301), the limiting cylinder (303) is installed on the inner surface of the housing (301), and the conveyor belt (304) is arranged on the inner surface of the housing (301) through the limiting cylinder (303).

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