Load-bearing transportation speed detection device for fabric transfer robot

Abstract

The invention relates to the technical field of robot detection, and discloses a fabric transfer robot bearing transportation speed detection device which comprises a test frame. A robot body; the simulation bearing assembly is used for simulating the load weight of the robot body; the detection assembly is used for detecting inertia overturning angles of the robot body under different loads; the detection assembly comprises an action device and a marking device. According to the bearing transportation speed detection device for the fabric transfer robot, inclination detection can be carried out on the transportation speed of the robot through the arranged detection assembly, then the maximum speed which can be achieved when the transfer robot bears different loads is detected, and therefore internal transportation speed parameters of the robot can be conveniently adjusted in the later period; therefore, the transfer efficiency of the robot is improved, the situation that products fall off or the robot inclines due to inertial movement is avoided, the logistics transportation efficiency is improved, and meanwhile the logistics transportation stability is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot detection technology, and in particular to a load-bearing and transport speed detection device for a fabric transfer robot. Background Art

[0002] At present, robots commonly used in the logistics field mostly adopt a flip-plate structure, and are mainly used for light and small packages weighing less than 5kg and with the longest side length less than 400mm. They cannot be used for the transportation and transport of large, heavy, and special-shaped packages other than light and small packages.

[0003] The current transfer robot is put into use directly after assembly, but there is no actual simulation test of the robot's carrying capacity. The current application field of robots is relatively wide, especially the load-bearing transportation of flour processing. Existing large factories all use fully intelligent robots for transportation. In the actual robot logistics operation process, the robot's load-bearing capacity and the robot's braking must be considered, because the robot needs to turn after straight transportation during transportation and then change routes. At this time, the robot is carrying a certain amount of fabric. When decelerating and braking, the loaded fabric may be too heavy, causing the robot to slip when braking or the fabric to flip over due to inertia, and the fabric directly falls, similar to the shape of "falling headfirst". If the speed of the robot is set too slow, it will affect the efficiency of the robot's transportation. However, the production of the robot has not carried out effective testing in this regard, resulting in the setting of the robot's parameters can only be based on experience or low speed values, which will undoubtedly affect the robot's transportation efficiency and cannot fully utilize the robot's extreme motion values. Therefore, a fabric transfer robot load-bearing speed detection device is proposed to solve the above-mentioned problems. Summary of the Invention

[0004] (1) Technical problems solved In response to the shortcomings of the existing technology, the present invention provides a load-bearing and speed detection device for a fabric transfer robot, which solves the problem in the existing technology that it is impossible to carry out effective real-time simulation detection of the logistics robot, resulting in the robot being unable to achieve the optimal transportation rate when in use, causing the robot to easily "fall over" when dealing with fabrics of different weights.

[0005] (2) Technical solution To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a load-bearing speed detection device for a fabric transfer robot, comprising a test frame; a robot body; a simulated load-bearing component for simulating the load weight of the robot body; a detection component for detecting the inertial flip angle of the robot body under different loads; the detection component comprises an action device and a marking device; the action device comprises a hook frame, the top of the hook frame is hung on the robot body, the hook frame is slidably connected to a slide, the slide is rotatably connected to the slide, the slide is fixedly connected to a central axis, the central axis is rotatably connected to a carrier frame through a plate, and a pulley is provided at the bottom of the carrier frame; the marking device comprises a marking plate, a slot is provided on the carrier frame, the marking plate is inserted into the inside of the slot, the upper surface of the marking plate is provided with teeth, the teeth are meshed with a conveying gear, the conveying gear is fixed to the central axis, a marking pen is inserted into the carrier frame, and the tip of the marking pen is in contact with the surface of the marking plate.

[0006] Preferably, two of the marking plate, the first gear and the marking pen are provided, and the two marking pens and the marking plate are arranged one high and one low, and the two first gears are respectively engaged with the two sides of the hook frame.

[0007] Preferably, a T-slot is provided on the hook frame, the slide is slidably connected to the T-slot, a hopper is provided on the robot body, and the top of the hook frame is clamped on the hopper.

[0008] Preferably, a one-way device is provided inside the first gear, and the one-way device includes a ratchet plate, and the ratchet plate is rotatably connected to the central shaft. The tail of the ratchet plate abuts against a spring rod, and the spring rod is fixed on the central shaft. A ratchet groove is opened in the first gear, and the ratchet plate is clamped inside the ratchet groove.

[0009] Preferably, a plurality of the spine plates are provided, and the plurality of spine plates are distributed in a circular array with the center of the central axis as the axis of symmetry.

[0010] Preferably, the simulated load-bearing component includes a simulation box, which is arranged on the robot body. Two load-bearing pressure rods are provided on the top of the simulation box. Both ends of the load-bearing pressure rods are connected with tension springs. The bottom of the tension spring is connected with a movable plate, and the movable plate is slidably connected to the test frame through a connecting piece.

[0011] Preferably, the connecting member includes a sliding rod, the sliding rod is slidably connected to the movable plate, the left end of the sliding rod is connected to a roller, a rolling groove is provided on the test stand, and the roller is slidably connected inside the rolling groove.

[0012] Preferably, a self-adjusting device is also included, the self-adjusting device includes a double screw, the double screw is provided with threads of relative rotation, and the two movable plates are threadedly connected to the double screw, the double screw is fixedly connected with a ratchet, the test frame is slidably connected with a slide, the bottom of the slide is slidably connected to two guide rods, the guide rod is fixed to the bottom of the test frame, the surface of the guide rod is sleeved with a telescopic spring, one end of the telescopic spring is connected to the bottom end of the guide rod, the other end of the telescopic spring is connected to the slide, and the slide is connected with a ratchet card.

[0013] Preferably, an arc groove is provided on the simulation box, and the load-bearing pressure rod is located on the arc groove 3051 .

[0014] (3) Beneficial effects Compared with the prior art, the present invention provides a load-bearing speed detection device for a fabric transfer robot, which has the following beneficial effects: 1. The load-bearing speed detection device of the fabric transfer robot can realize the tilt detection of the robot's speed through the detection components set, and then detect the maximum speed that the transfer robot can achieve under different loads, so as to facilitate the subsequent adjustment of the robot's internal speed parameters, thereby improving the robot's transfer efficiency, and preventing products from falling or the robot from tilting due to inertia, thereby improving the efficiency of logistics transportation and improving the stability of logistics transportation.

[0015] 2. The load-bearing speed detection device of the fabric transfer robot uses a simulated load-bearing component to simulate the load of the robot using the tension of the spring, and then uses the stretching of the spring to automatically compress the load and automatically adjust the load, thereby solving the problem of operators changing the load at irregular intervals, realizing automatic adjustment of the detection load, and improving the convenience of the detection process. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of a load-bearing and transport speed detection device for a fabric transport robot proposed by the present invention; Figure 2 This is a schematic diagram of the detection component structure of a load-bearing and transport speed detection device for a fabric transfer robot proposed by the present invention; Figure 3 This is a schematic diagram of the two marking plates of the load-bearing speed detection device of the fabric transfer robot proposed by the present invention; Figure 4 This is a schematic structural diagram of a one-way device of a load-bearing speed detection device for a fabric transfer robot proposed by the present invention; Figure 5 This is a schematic diagram of the structure of a simulated load-bearing component of a load-bearing and transport speed detection device for a fabric transfer robot proposed in the present invention; Figure 6 This is a schematic diagram of the cross-sectional structure of the robot body of a load-bearing and transport speed detection device for a fabric transport robot proposed in the present invention; Figure 7 This is a schematic diagram of the twin-screw connection structure of a load-bearing and transport speed detection device for a fabric transfer robot proposed by the present invention; Figure 8 This is a schematic diagram of the sliding plate connection structure of the load-bearing speed detection device of the fabric transfer robot proposed by the present invention; Figure 9 This is a schematic diagram of the simulation box structure of the load-bearing and transport speed detection device of the fabric transfer robot proposed in the present invention.

[0017] In the figure: 1. test frame; 101. rolling groove; 2. robot body; 3. simulated load-bearing component; 301. load-bearing pressure rod; 302. tension spring; 303. moving plate; 304. self-adjusting device; 3041. double screw; 3042. ratchet wheel 1; 3043. slide; 3044. guide rod; 3045. telescopic spring; 3046. ratchet; 305. simulation box; 3051. arc groove; 306. slide; 307. roller; 4. detection component; 401. hook frame; 402. load-bearing frame; 403. pulley; 404. marking plate; 405. first gear; 406. slide; 407. T-slot; 408. ratchet groove; 409. center axis; 410. ratchet plate; 411. spring rod; 412. conveying gear; 413. marking pen. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figures 1-9A load-bearing speed detection device for a fabric transfer robot includes a test frame 1; a robot body 2; a simulated load-bearing component 3 for simulating the load weight of the robot body 2; a detection component 4 for detecting the inertial flip angle of the robot body 2 under different loads; the detection component 4 includes an action device and a marking device; the action device includes a hook frame 401, the top of the hook frame 401 is hung on the robot body 2, the hook frame 401 is slidably connected to a slide 406, the slide 406 is rotatably connected to the slide 406, the slide 406 is fixedly connected to a central shaft 409, and the central shaft 409 is rotatably connected to a carrier frame 402 through a plate body. A pulley 403 is provided at the bottom of the carrier 402; when the robot performs simulated braking detection at a fixed speed, after the load becomes heavier, it will be accompanied by the tilting of the robot body 2, which is the process of "kowtow", and when the robot body 2 tilts, the tail will be tilted, which will drive the hook frame 401 hung on its hopper to stretch and move, and when the hook frame 401 moves, it will drive the first gears 405 on both sides to rotate, and the rotation of the first gear 405 will drive the conveying gear 412 to rotate through the central axis 409, so the tilting action of the robot's tail is used as a power source to control the marking device to mark the inclination.

[0020] In this embodiment, the marking device includes a marking plate 404, which is inserted into a slot defined in the carrier 402. The upper surface of the marking plate 404 is provided with teeth, which mesh with a conveying gear 412. The conveying gear 412 is fixed to the central shaft 409. A marking pen 413 is inserted into the carrier 402, with the tip of the marking pen 413 abutting the surface of the marking plate 404. When the conveying gear 412 rotates, the teeth mesh, causing the two marking plates 404 to move relative to each other. At this time, the two marking pens 413 mark the surfaces of the marking plates 404, converting the tilt angle of the robot body 2 into a straight line. Later, the operator can simply remove the marking plate 404 and check the length of the marked line to determine the braking tilt angle of the robot body 2 under a certain load and speed. The longer the marked line, the greater the tilt angle, and vice versa.

[0021] Furthermore, two marking plates 404, two first gears 405, and two marking pens 413 are each provided, and the two marking pens 413 and marking plates 404 are arranged one high and one low, and the two first gears 405 are respectively engaged with the two sides of the hook frame 401. The two marking plates 404 can be provided to form a parameter comparison. The purpose of the high and low arrangement is to move the two marking plates 404 to make way for each other. Because the two marking plates 404 slide relative to each other, sliding interference is avoided. By setting them at different heights, the two marking plates 404 will not slide against each other and interfere with each other.

[0022] The hook frame 401 is provided with a T-slot 407, onto which the slide 406 is slidably connected. The robot body 2 is provided with a hopper, onto which the top of the hook frame 401 is clamped. When the hook frame 401 slides, the T-slot 407 ensures that the two first gears 405 are always parallel to the hook frame 401, ensuring meshing between the teeth and preventing gear misalignment.

[0023] Furthermore, a one-way device is provided inside the first gear 405. The one-way device includes a ratchet plate 410, which is rotatably connected to the central shaft 409. The tail of the ratchet plate 410 abuts against a spring rod 411, which is fixed to the central shaft 409. A ratchet groove 408 is provided in the first gear 405, and the ratchet plate 410 is fixed inside the ratchet groove 408. There are multiple ratchet plates 410, and the multiple ratchet plates 410 are arranged in a circular array with the center of the central shaft 409 as the axis of symmetry. The provision of multiple ratchet plates 410 can improve the stability of the one-way device. The one-way motion is achieved by utilizing the operating principle of a "bicycle sprocket". The one-way motion is used to unidirectionally move the marking plate 404, facilitating the recording of the tilt angle. When the robot body 2 is straightened, it will drive the hook frame 401 to reset. Afterwards, in order to avoid the reset of the marking plate 404, a one-way device is set. When the first gear 405 is engaged by the teeth and rotates in the opposite direction, it will use the forward principle of the internal ratchet groove 408 and will not drive the rotation of the central shaft 409. Only after the hook frame 401 is moved up and stretched, it will indirectly drive the rotation of the central shaft 409 through the reverse tooth engagement principle of the ratchet plate 410. Therefore, the overall robot body 2 drives the marking plate 404 to move horizontally and draw lines after tilting. After resetting, the relative position of the marking plate 404 remains unchanged. Then, when the robot body 2 is tilted, the movement of the marking plate 404 will be controlled.

[0024] In addition, the simulated load-bearing assembly 3 includes a simulation box 305, which is arranged on the robot body 2. Two load-bearing pressure rods 301 are installed on the top of the simulation box 305. The two ends of the load-bearing pressure rods 301 are connected to tension springs 302. The bottom of the tension springs 302 is connected to a movable plate 303. The movable plate 303 is slidably connected to the test frame 1 through a connector. The two symmetrically arranged tension springs 302 are subjected to elastic force, providing downward pressure on the two load-bearing pressure rods 301. When the load-bearing pressure rods 301 are pressed downward, they act on the robot body 2 through the simulation box 305, thereby achieving simulated load-bearing of the robot body 2 without adding substantial fabric, improving the convenience of the operator's inspection.

[0025] In addition, the connecting member includes a slide bar 306, which is slidably connected to the movable plate 303. The left end of the slide bar 306 is connected to a roller 307. The test frame 1 is provided with a rolling groove 101, and the roller 307 is slidably connected inside the rolling groove 101. Because the roller 307 slides in the rolling groove 101 of the test frame 1, the vertical position is limited and it can only slide in the left and right directions. Therefore, the vertical position of the movable plate 303 is directly limited. Therefore, the purpose of the rolling groove 101 is to limit the movement of the movable plate 303.

[0026] It is worth noting that it also includes a self-adjusting device 304, which includes a double screw 3041, which is provided with threads of relative rotation, and the two movable plates 303 are both threadedly connected to the double screw 3041, and a ratchet 3042 is fixedly connected to the double screw 3041, and a slide 3043 is slidably connected to the test frame 1, and the bottom of the slide 3043 is slidably connected to two guide rods 3044, which are fixed to the bottom of the test frame 1, and a telescopic spring 3045 is sleeved on the surface of the guide rod 3044, one end of the telescopic spring 3045 is connected to the bottom end of the guide rod 3044, and the other end of the telescopic spring 3045 is connected to the slide 3043, and the slide 3043 is connected with a ratchet 3046. When the robot body 2 moves forward and moves to a certain position, the ratchet 1 3042 on the double screw 3041 will abut against the ratchet 3046 on the slide 3043, thereby driving the ratchet 1 3042 to rotate a certain angle, and the rotation of the ratchet 1 3042 will drive the double screw 3041 to rotate. By utilizing the threaded connection, the two moving plates 303 will be driven to move laterally to both sides, and the moving plates 303 will relatively stretch the two tension springs 302, so that the downward pressure provided by the spring to the load-bearing pressure rod 301 is increased, thereby increasing the load force of the robot body 2. The purpose is to simulate the impact of different pressure loads on the running speed of the robot body 2 during actual simulation tests. The specific relationship between the ratchet 3042, the movable plate 303, and the tension spring 302 can be designed and adjusted according to actual needs. Because the ratchet 3042 has a limited rotation angle per cycle, if the movable plate 303 is to be controlled to move relatively large, a larger pitch is required to allow the movable plate 303 to move laterally. Of course, a tension spring 302 with a larger elastic coefficient can also be selected. By stretching the more elastic tension spring 302 over a small distance, the "elastic load" can be adaptively adjusted. Therefore, if, during testing, one wishes to view test data by observing changes in a small load, a spring with a smaller elastic parameter can be used, and vice versa. After the entire testing process is completed, the operator is required to manually reverse the twin screws 3041 to control the return of the two movable plates 303, thereby loosening the tension spring 302.

[0027] It is worth noting that the simulation box 305 is provided with an arc groove 3051, and the load-bearing pressure rod 301 is located on the arc groove 3051. When the robot body 2 moves, the arc groove 3051 drives the synchronous movement of the load-bearing pressure rod 301 through the indirect connection of the simulation box 305. The load-bearing pressure rod 301, through the elastic connection of the tension spring 302, drives the two movable plates 303 to move laterally, and in turn drives the twin screws 3041 to move. The two slide bars 306 and the roller 307 are used to limit the movement, thus directly realizing the principle of elastic connection and movement synchronization.

[0028] Working principle: first, when the entire robot is being tested, it needs to be placed on the runway of the test frame 1, and then the simulation box 305 is placed on the hopper on the robot body 2, and then the two load-bearing pressure rods 301 are pressed on the arc groove 3051 on the simulation box 305. The simulation box 305 is a simulated load-bearing fabric, and its interior is a hollow structure. The weight of the fabric is simulated by four tension springs 302 for pressure simulation. Because the roller 307 slides in the rolling groove 101 of the test frame 1 to limit the upper and lower positions, it can only slide in the left and right directions, so the upper and lower positions of the movable plate 303 are directly limited. At this time, the two symmetrically arranged tension springs 302 will be subjected to elastic force, providing downward pressure on the two load-bearing pressure rods 301. When the load-bearing pressure rods 301 are pressed downward, they will act on the robot body 2 through the simulation box 305, thereby realizing the simulated load-bearing of the robot body 2. Then, the motion program of the robot body 2 is set to make it perform a cyclic motion in the forward and backward directions and realize motion on the runway of the test frame 1. When the robot body 2 moves forward, after moving to a certain position, the ratchet 1 3042 on the double screw 3041 will abut against the ratchet 3046 on the slide 3043, thereby driving the ratchet 1 3042 to rotate a certain angle, and the rotation of the ratchet 1 3042 will drive the double screw 3041 to rotate, and the two moving plates 303 will be driven to move laterally to both sides by the threaded connection relationship, and the moving plates 303 will relatively stretch the two tension springs 302, so that the downward pressure provided by the spring to the load-bearing pressure rod 301 is increased, thereby increasing the load force of the robot body 2. The purpose is to actually simulate During the test, the effects of different pressure loads on the speed of the robot body 2 were simulated. Conventional solutions simply placed fabrics of different weights on the robot body 2 in sequence, testing them once and replacing them once, which was inconvenient and inefficient. Therefore, an automatic elastic force increase method was used to simulate the increase in the load force of the robot body 2. When the robot body 2 moved to the maximum distance ahead, it was automatically returned to its original position due to the influence of the internal program. During the return process, due to the unidirectional action principle of the ratchet 3042, when it abutted the ratchet 3046, the slide 3043 would move downward, squeezing the extension spring 3045 and making way, preventing the twin screw 3041 from rotating again and causing the tension spring 302 to reset. Therefore, the entire simulated load-bearing assembly 3 can achieve automatic load value conversion when simulating the fabric load of the robot body 2. The conversion process is as follows: the load increases in sequence. Each time the robot body 2 completes a reciprocating cycle, the elastic force of the extension spring 302 is increased, thereby increasing the simulated load-bearing capacity of the robot body 2.When the robot simulates the braking test at a fixed speed, after the load becomes heavier, the robot body 2 will inevitably tilt, which is the process of "kowtow". When the robot body 2 tilts, the tail will tilt up. At the same time, it will drive the hook frame 401 hung on its hopper to stretch and move. When the hook frame 401 moves, it will drive the first gears 405 on both sides to rotate. The rotation of the first gear 405 will drive the conveying gear 412 to rotate through the central axis 409. When the conveying gear 412 rotates, it will drive the two marking plates 404 to move relative to each other through the engagement of the teeth. At this time, the two marking pens 413 will respectively mark the surface of the marking plate 404, converting the tilt angle of the robot body 2 into a straight line. Therefore, the operator only needs to pull out the marking plate 404 and check the length of the line to conclude that under this load and this speed, the braking tilt angle of the robot body 2 is longer, the tilt angle will be greater, and vice versa. Because it is a reciprocating test, a one-way device is set up. When the robot body 2 is straightened after tilting and knocking, the hook frame 401 will be pressed down by its own gravity or the abutment of the simulation box 305 to reset it. The entire carrier frame 402 is set on the runway of the test frame 1 through two pulleys 403, and is connected to the double screw 3041 through the connecting rod. Therefore, when the entire robot body 2 is in motion, it will drive the carrier frame 402 to move synchronously through the connecting rod, and the double screw 3041 has no actual contact with the robot body 2. In fact, it relies on the downward pressure of the two tension springs 302 to provide The movement of the robot body 2 is synchronized. When the robot body 2 moves, it will be indirectly connected through the simulation box 305, and the arc groove 3051 will be used to drive the synchronous movement of the load-bearing pressure rod 301. The load-bearing pressure rod 301 will drive the two moving plates 303 to move horizontally through the elastic connection of the tension spring 302, and then drive the double screw 3041 to move. By using the limiting of the two sliding rods 306 and the roller 307, the principle of elastic connection and movement synchronization is directly realized. The greater the downward pressure of the load-bearing pressure rod 301, the greater the synchronization of the robot body 2 with the simulated load-bearing component 3 and the detection component 4. When the robot body 2 is straightened, it will drive the hook frame 401 to reset. Afterwards, in order to avoid the reset of the mark plate 404, a one-way device is set. When the first gear 405 is engaged by the teeth and rotates in the opposite direction, it will use the forward principle of the internal ratchet groove 408 and will not drive the rotation of the central shaft 409. The rotation connection between the central shaft 409 and the carrier 402 has a certain damping, so self-rotation will not occur.Only after the hook frame 401 is moved upward and stretched, the central shaft 409 will be driven to rotate indirectly through the reverse tooth engagement principle of the ratchet plate 410. Therefore, the overall robot body 2 will be tilted to drive the marking plate 404 to move horizontally and draw lines. After resetting, the relative position of the marking plate 404 remains unchanged. Thereafter, when the robot body 2 is tilted, the movement of the marking plate 404 will be controlled.

[0029] Therefore, the entire solution implements a simulated speed cycle test of the robot body 2's load capacity, thereby detecting the robot body 2's maximum speed parameters under different loads. This facilitates the subsequent setting of speed parameters for the robot's normal operation, thereby improving transportation efficiency and stability. Because current robots basically operate and transport at the specified speed, and logistics centers have a large number of objects, if the robot's speed is set too low, it will undoubtedly greatly affect the transportation efficiency of flour processing. However, if the robot's speed is set too high, when the robot brakes when transporting fabric to the transportation warehouse, it may tilt and "turn over" due to inertia, resulting in reduced transportation stability.

[0030] As for the relationship between the robot's tilt angle and the mark, Figure 3 It is clear that when the tilt angle is small, the length of the line segment is small, and vice versa. Since the entire inspection process is a long one, the inspector does not need to observe directly for a long time. Instead, they can simply check the line segments on the marking plate 404. Each time a line is drawn, a "line segment" exists. As long as a line is drawn, it directly indicates that the vehicle is tilted. Regarding the calculation relationship parameters: 4X=YA, (X is the tilt angle, Y is the line length, and A is the friction and other interference parameters).

[0031] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises", or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, material, or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or elements that are inherent to such process, method, material, or apparatus. In the absence of further limitations, an element defined by the phrase "includes a..." does not exclude the presence of additional identical elements in the process, method, material, or apparatus that includes the element.

Claims

1. A load-bearing speed detection device for a fabric transfer robot, characterized in that: include: Test stand (1); Robot body (2); A simulated load-bearing component (3) for simulating the load weight of the robot body (2); A detection component (4) is used to detect the inertial flip angle of the robot body (2) under different loads; The detection component (4) includes an action device and a marking device; The action device includes a hook frame (401), the top of the hook frame (401) is hung on the robot body (2), the hook frame (401) is slidably connected to a slide frame (406), the slide frame (406) is rotatably connected to the slide frame (406), the slide frame (406) is fixedly connected to a central axis (409), the central axis (409) is rotatably connected to a carrier frame (402) through a plate body, a pulley (403) is provided at the bottom of the carrier frame (402), and the carrier frame (402) is connected to the simulated load-bearing component (3); The marking device includes a marking plate (404), a slot is provided on the carrier (402), the marking plate (404) is inserted into the slot, the upper surface of the marking plate (404) is provided with teeth, a conveying gear (412) is meshed on the teeth, the conveying gear (412) is fixed to the central axis (409), a marking pen (413) is inserted into the carrier (402), and the pen tip of the marking pen (413) is in contact with the surface of the marking plate (404).

2. The load-bearing speed detection device for a fabric transfer robot according to claim 1, characterized in that: The marking plate (404), the first gear (405) and the marking pen (413) are each provided with two, and the two marking pens (413) and the marking plate (404) are arranged one high and one low, and the two first gears (405) are respectively engaged with the two sides of the hook frame (401).

3. The load-bearing speed detection device for a fabric transfer robot according to claim 2, characterized in that: A T-slot (407) is provided on the hook frame (401), the slide frame (406) is slidably connected to the T-slot (407), a hopper is provided on the robot body (2), and the top of the hook frame (401) is clamped on the hopper.

4. The load-bearing speed detection device for a fabric transfer robot according to claim 3, characterized in that: A one-way device is provided inside the first gear (405), and the one-way device includes a ratchet plate (410). The ratchet plate (410) is rotatably connected to the central shaft (409). The tail of the ratchet plate (410) abuts against a spring rod (411), and the spring rod (411) is fixed on the central shaft (409). A ratchet groove (408) is provided inside the first gear (405), and the ratchet plate (410) is clamped inside the ratchet groove (408).

5. The load-bearing speed detection device for a fabric transfer robot according to claim 4, characterized in that: A plurality of the spine plates (410) are provided, and the plurality of spine plates (410) are distributed in a circular array with the center of the central axis (409) as a symmetric axis.

6. The load-bearing speed detection device for a fabric transfer robot according to claim 1, characterized in that: The simulated load-bearing component (3) includes a simulation box (305), the simulation box (305) is arranged on the robot body (2), two load-bearing pressure rods (301) are arranged on the top of the simulation box (305), the two ends of the load-bearing pressure rods (301) are connected to tension springs (302), the bottom of the tension spring (302) is connected to a movable plate (303), and the movable plate (303) is slidably connected to the test frame (1) through a connecting piece.

7. The load-bearing speed detection device for a fabric transfer robot according to claim 6, characterized in that: The connecting member includes a sliding rod (306), the sliding rod (306) is slidably connected to the movable plate (303), the left end of the sliding rod (306) is connected to a roller (307), a rolling groove (101) is provided on the test stand (1), and the roller (307) is slidably connected inside the rolling groove (101).

8. The load-bearing speed detection device for a fabric transfer robot according to claim 7, characterized in that: The invention also includes a self-adjusting device (304), wherein the self-adjusting device (304) includes a twin screw (3041), the twin screw (3041) is provided with threads with relative rotation directions, and the two movable plates (303) are both threadedly connected to the twin screw (3041), the twin screw (3041) is fixedly connected to a ratchet wheel (3042), a slide (3043) is slidably connected to the test frame (1), the bottom of the slide (3043) is slidably connected to two guide rods (3044), the guide rods (3044) are fixed to the bottom of the test frame (1), a telescopic spring (3045) is sleeved on the surface of the guide rod (3044), one end of the telescopic spring (3045) is connected to the bottom end of the guide rod (3044), the other end of the telescopic spring (3045) is connected to the slide (3043), and the slide (3043) is connected to a ratchet (3046).

9. The load-bearing speed detection device for a fabric transfer robot according to claim 8, characterized in that: An arc groove (3051) is provided on the simulation box (305), and the load-bearing pressure rod (301) is located on the arc groove (3051).

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