Textile robot and robot system

Abstract

The utility model relates to a spinning robot and a robot system, and belongs to the field of automatic equipment of spinning factories. The robot comprises a robot body, a wheel mechanism, a forking mechanism, a lifting driving mechanism and a control system. The wheel mechanism is arranged at the bottom of the machine body and can drive the robot to move in the textile workshop; the robot drives the lead screw shaft to rotate through the lifting motor in the lifting driving mechanism, so that the moving part on the lead screw shaft moves up and down along the lead screw shaft, and the height of the fork arm can be accurately controlled. The photoelectric sensor arranged at the bottom of the fork arm can detect the relative height of the fork arm and the ground in real time, and after collected data are input into the control system, the lifting motor can be controlled, so that the lifting stroke can be subjected to feedback adjustment, and dynamic height calibration is achieved; therefore, the problems of butt joint failure, material inclination or collision and the like caused by height errors are effectively avoided, and the stability of forking operation is ensured.

Description

Technical Field

[0001] This utility model relates to the field of automated equipment in textile factories, and in particular to a robot and robot system for textile use. Background Technology

[0002] Currently, in the textile industry, manually driven forklifts are commonly used for material handling to transfer textile drums. However, traditional forklifts are generally bulky, large in size, and have a large turning radius, making them difficult to adapt to the complex layout of textile workshops with dense equipment and narrow aisles, affecting the flexibility and safety of handling operations. Furthermore, in the handling of textile drums, to achieve precise docking with automated workstations or high-level material storage and retrieval operations, the equipment typically needs to have high precision in lifting height control.

[0003] However, most existing forklifts are operated manually, with operators typically relying on visual inspection or experience to control the lifting mechanism. This results in low precision in forklift height control during lifting, frequently leading to problems such as height deviation and inaccurate connection. This not only affects material handling efficiency but also easily causes materials to bump and fall, and can even cause equipment malfunctions and material damage. Utility Model Content

[0004] One objective of this invention is to provide an automated robot capable of accurately controlling the lifting height of a forklift.

[0005] To address the aforementioned technical problems, this application provides a textile robot, comprising: a body; a wheel mechanism disposed at the bottom of the body for driving the robot to move within a textile workshop; a forking mechanism including a connecting frame and two forks, the connecting frame being slidably connected to the front side of the body, the two forks being fixed to both sides of the connecting frame and capable of moving up and down with the connecting frame; the distance between the two forks being adapted to the width of the textile bobbin; a photoelectric sensor being provided at the bottom of the automatic end of each fork; and a lifting drive mechanism including a lifting motor, a lead screw shaft, and a moving component, the lifting motor being fixed to the front side of the body; the lifting motor driving the vertically extending lead screw shaft. The system includes a connection mechanism; the moving part is threadedly connected to the lead screw shaft, and the moving part is fixedly connected to the connecting frame of the fork mechanism; the lifting motor can drive the lead screw shaft to rotate, thereby driving the moving part on the lead screw shaft and the fork mechanism fixedly connected to the moving part to move up and down; a control system is set inside the machine body, and the photoelectric sensor electrical signals of the wheel mechanism, the lifting drive mechanism and the fork mechanism of the control system are connected; so as to control the robot to move automatically in the textile workshop, and automatically obtain the height information of the fork arm through the photoelectric sensor, thereby controlling the lifting position of the fork arm to ensure accurate docking of the fork arm with the textile cylinder or production station.

[0006] In some examples of this application, multiple ball bearings are fixed on both sides of the connecting frame of the forklift mechanism, and two vertically extending guide grooves are provided on the front side of the machine body. The ball bearings are slidably connected in the guide grooves so that the forklift mechanism can move up and down along the machine body.

[0007] In some examples of this application, the connecting frame is equipped with a depth camera, which is electrically connected to the control system. The depth camera is used to acquire three-dimensional image information of the area in front of the forklift mechanism to identify the position and posture of the target item, thereby assisting the control system in controlling the forklift mechanism to perform positioning.

[0008] In some examples of this application, the fork arm includes a horizontal straight section and a vertical section; the vertical section of the fork arm is fixed on the connecting frame, and the horizontal section of the fork arm extends horizontally in a direction away from the machine body; the upper surface of the horizontal section of the fork arm is provided with an anti-slip rubber pad.

[0009] In some examples of this application, the connecting frame is provided with a limit switch, which is electrically connected to the control system; the machine body is provided with a triggering part for triggering the limit switch; when the fork lifting mechanism is raised or lowered to a preset limit position, the triggering part triggers the corresponding limit switch, so that the control system stops the movement of the lifting motor, thereby stopping the lifting action.

[0010] In some examples of this application, the wheel mechanism includes two driven wheels and two driving wheels; the two driving wheels are disposed at the bottom of the body and are connected to a drive motor inside the body; two extension plates are provided on the front side of the body, the extension plates are located between two forks and extend along the direction of the forks; the driven wheels are disposed on the bottom surface of the free end of the extension plates.

[0011] In some examples of this application, the robot further includes a wireless communication module; the wireless communication module includes an antenna, a router, and a remote control signal receiving unit; the antenna is disposed on the top of the robot body and electrically connected to the router on the front side of the robot body, the router is electrically connected to the remote control signal receiving unit, and the remote control signal receiving unit is electrically connected to the control system, for realizing data communication and remote control between the robot and the host computer system of the textile workshop.

[0012] In some examples of this application, the robot further includes a 3D LiDAR and a protective radar electrically connected to the control system; the 3D LiDAR is disposed on the top of the robot body and is used to scan the robot's surrounding environment and generate three-dimensional map data for path planning and navigation decisions; the protective radar is disposed on the side wall of the robot body and is used to detect obstacle information in the robot's movement path in real time for assisting obstacle avoidance control.

[0013] In some examples of this application, the robot further includes at least three cameras, all of which are electrically connected to the control system. The cameras are installed at different positions on the robot body and face different directions to collect image information of the robot's surrounding environment. The control system can perform environmental recognition and path assistance judgment based on the image information.

[0014] This application also provides a robot system, including: a textile bobbin, which includes a bobbin body, a plurality of rollers disposed on the bobbin body, and a limiting plate disposed at the bottom of the bobbin body; the two ends of the limiting plate are fixedly connected to the bobbin body, and the middle part of the limiting plate is spaced apart from the bottom of the bobbin body to form a slot; the textile robot described above, the robot can control the lifting and lowering of its fork arm so that the fork arm accurately inserts into the slot of the textile bobbin, and drives the textile bobbin to move within the textile workshop.

[0015] As can be seen from the above technical solution, the beneficial effects of this utility model are as follows:

[0016] This application provides a robot and robot system for textile applications. The robot drives a lead screw shaft to rotate via a lifting motor, causing the moving parts on the lead screw shaft to move up and down along the shaft. Compared to other traditional transmission methods, this provides higher positioning accuracy and repeatability, and can precisely control the height of the fork arm with a small error range. The mechanical self-locking of the lead screw shaft and the moving parts also prevents the fork arm from sliding down due to power failure or sudden situations, improving operational safety. Simultaneously, photoelectric sensors installed at the bottom of the fork arm can detect the relative height of the fork arm to the ground or the distance to the target object in real time. The collected data is input into the control system, which controls the lifting motor, enabling closed-loop feedback adjustment of the lifting stroke and achieving dynamic height calibration. This effectively avoids problems such as docking failure, material tilting, or collisions caused by height errors, ensuring the accuracy and stability of the fork operation. It is particularly suitable for scenarios requiring precise docking of textile bobbins at production stations. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the robot system.

[0018] Figure 2 for Figure 1 A three-dimensional structural diagram of the robot system from another angle.

[0019] Figure 3 for Figure 1 A schematic diagram of the exploded structure of the robot system.

[0020] Figure 4 This is an exploded structural diagram of a textile robot.

[0021] Figure 5 for Figure 4 A schematic diagram of the robot's body structure.

[0022] Figure 6 for Figure 4 Another structural diagram of the robot's body.

[0023] Figure 7 for Figure 4 A three-dimensional structural diagram of the forklift mechanism of the robot.

[0024] Figure 8 for Figure 4 A three-dimensional structural diagram of the forklift mechanism of the robot from another angle.

[0025] The annotations in the attached figures are explained as follows:

[0026] 100. Robot system; 10. Textile bobbin; 11. Bobbin body; 12. Roller; 13. Limiting plate; 20. Robot; 21. Body; 211. Column; 212. Front cover plate; 213. Cable chain; 214. Guide groove; 215. Extension plate; 216. Control button; 217. Charging port; 22. Forklift mechanism; 221. Connecting frame; 2211. Lug; 222. Fork arm; 2221. Horizontal section; 2222. Vertical section; 223. Photoelectric Sensors; 224. Ball bearings; 225. Limit switches; 226. Depth cameras; 23. Lifting drive mechanisms; 231. Lifting motors; 232. Lead screws; 233. Moving parts; 24. Wheel mechanisms; 241. Drive wheels; 242. Driven wheels; 25. Wireless communication modules; 251. Antennas; 252. Routers; 253. Remote control signal receiving units; 254. Batteries; 26. 3D LiDAR; 27. Protective radar; 28. Cameras. Detailed Implementation

[0027] Typical embodiments embodying the features and advantages of this utility model will be described in detail in the following description. It should be understood that this utility model can have various variations in different embodiments, all of which do not depart from the scope of this utility model, and the descriptions and illustrations therein are for illustrative purposes only and not intended to limit this utility model.

[0028] In the description of this application, it should be understood that, in the embodiments shown in the accompanying drawings, the indications of direction or positional relationships (such as up, down, left, right, front, and back) are merely for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. These descriptions are appropriate when these elements are in the positions shown in the accompanying drawings. If the description of the positions of these elements changes, these directional indications also change accordingly.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.

[0030] Please see Figures 1 to 8 This embodiment provides a robot system 100, which includes a textile bobbin 10 and a textile robot 20. The robot 20 is used to transport the textile bobbin 10 and its contents in the textile workshop to realize the automatic handling of materials in the textile workshop.

[0031] The textile bobbin 10 includes a bobbin body 11, multiple rollers 12 mounted on the bobbin body 11, and a limiting plate 13 located at the bottom of the bobbin body 11. The two ends of the limiting plate 13 are fixedly connected to the bobbin body 11, and the middle portion of the limiting plate 13 forms a slot with the bottom of the bobbin body 11 at a distance. The textile robot 20 can control the lifting and lowering of its fork mechanism 22 to accurately engage the fork arm 222 with the slot of the textile bobbin 10 and move the textile bobbin 10 within the textile workshop.

[0032] Specifically, the body 11 of the textile bobbin 10 is a hollow polygonal structure used to store textile materials such as yarn. Four rollers 12 are located on the lower outer edge of the body 11, giving the textile bobbin 10 good mobility. Two limiting plates 13 are provided, which are parallel to each other at the bottom of the body 11. The two ends of the limiting plates 13 are firmly fixed to the body 11 to ensure the overall structural strength. A gap is formed between the middle part of the limiting plate 13 and the bottom of the body 11. The slot formed by this gap is used to engage with the fork arm 222 of the textile robot 20, ensuring smooth insertion when engaging with the fork arm 222 of the robot 20 and effectively preventing the material from sliding, tilting, or falling during the picking process.

[0033] The textile robot 20 is an intelligent handling device with automatic navigation and precise forking functions, equipped with a liftable fork arm 222. The lifting stroke of the fork arm 222 is precisely controlled by the control system, allowing it to accurately insert into the slot formed by the bottom limiting plate 13 of the textile bobbin 10. Once insertion is complete, the robot 20 uses a lifting drive mechanism to raise the fork arm 222, thereby lifting the entire textile bobbin 10 and ensuring stability during the handling process.

[0034] Please see Figures 3 to 8 The textile robot 20 in this embodiment includes a body 21, a wheel mechanism 24, a fork mechanism 22, and a lifting drive mechanism 23.

[0035] The wheel mechanism 24 is located at the bottom of the body 21 and is used to drive the robot 20 to move within the textile workshop. The fork mechanism 22 includes a connecting frame 221 and two fork arms 222. The connecting frame 221 is slidably connected to the front side of the body 21, and the two fork arms 222 are fixed to both sides of the connecting frame 221 and can move up and down with the connecting frame 221. The distance between the two fork arms 222 is adapted to the width of the textile tube 10. A photoelectric sensor 223 is provided at the bottom of the automatic end of the fork arm 222.

[0036] The lifting drive mechanism 23 includes a lifting motor 231, a lead screw 232, and a moving part 233. The lifting motor 231 is fixed to the front side of the machine body 21 and is connected to the vertically extending lead screw 232. The moving part 233 is threaded onto the lead screw 232 and is fixedly connected to the connecting frame 221 of the forklift mechanism 22. The lifting motor 231 can drive the lead screw 232 to rotate, thereby driving the moving part 233 on the lead screw 232 and the forklift mechanism 22 fixedly connected to the moving part 233 to move up and down.

[0037] The control system is located inside the machine body 21. The photoelectric sensor 223 of the control system wheel mechanism 24, lifting drive mechanism 23 and fork mechanism 22 are connected to the electrical signal to control the robot 20 to move automatically in the textile workshop. The height information of the fork arm 222 is automatically obtained through the photoelectric sensor 223, thereby controlling the lifting position of the fork arm 222 to ensure accurate docking of the fork arm 222 with the textile cylinder 10 or the production station.

[0038] Specifically, please refer to Figure 4 and Figure 5The robot body 21 serves as the main frame of the entire machine, supporting core components such as the wheel mechanism 24, forklift mechanism 22, lifting drive mechanism 23, and control system. The body 21 is generally a rectangular or near-rectangular shell structure, possessing good mechanical strength and wiring space. Its compact size makes it suitable for use in textile workshops. A removable front cover 212 is provided on the front side of the body 21 to cover some of the electrical components on the front side. Multiple control buttons 216 are also located on the upper rear side of the body 21. These control buttons 216 are electrically connected to the control system and can control the movement of the robot 20. A charging port 217 is also provided on the side of the body 21, which is electrically connected to the battery 254 on the front side of the body 21 to charge the battery 254.

[0039] Please see Figure 2 The wheel mechanism 24 is mounted on the bottom of the body 21, enabling the robot 20 to move freely inside the textile workshop. The wheel mechanism 24 typically works in conjunction with an electric drive unit and a navigation module to achieve path planning and autonomous movement, switching between different work stations under the command of the control system.

[0040] The forklift mechanism 22 and the lifting drive mechanism 23 are key components for realizing the handling function of the textile bobbin 10. The forklift mechanism 22 includes a connecting frame 221 and two fork arms 222. The connecting frame 221 is a transverse connecting frame structure that can slide vertically along the front side of the machine body 21 to realize the vertical movement of the fork arms 222. The fork arms 222 are fixed at both ends of the connecting frame 221. The distance between the fork arms 222 is designed to match the width of the bottom slot of the standard textile bobbin 10, so that it can accurately enter the slot when inserting or picking up materials. Each fork arm 222 is equipped with a photoelectric sensor 223 at its bottom automatic end to detect the position height of the fork arm 222 in real time during the lifting process, which facilitates position feedback adjustment by the control system and improves docking accuracy.

[0041] The lifting drive mechanism 23 controls the vertical lifting movement of the forklift mechanism 22. It includes a lifting motor 231 mounted on the front side of the machine body 21, a vertically arranged lead screw shaft 232, and a moving part 233 threadedly connected to it. The lifting motor 231 drives the lead screw shaft 232 to rotate via a coupling, and the moving part 233 moves up and down along its axial direction under the rotation of the lead screw. The moving part 233 is fixedly connected to a lug 2211 on the connecting frame 221, allowing the connecting frame 221 and the forklift 222 it carries to lift synchronously. The motor-driven lifting structure offers advantages such as high positioning accuracy, low noise, and compact structure, making it suitable for work scenarios requiring precise height control. Compared to traditional hydraulic or chain drive methods, it offers higher positioning accuracy and repeatability, enabling precise control of the forklift 222's height with a smaller error range.

[0042] The control system, located inside the robot body 21, forms the core control module for the intelligent operation of the robot 20. It is electrically connected to the photoelectric sensors 223 on the wheel mechanism 24, the lifting drive mechanism 23, and the forklift mechanism 22. It receives real-time position data from the sensors and automatically judges the data based on preset task logic, thereby controlling the robot 20 to achieve autonomous navigation and path planning within the textile workshop and initiating the lifting and lowering actions of the forklift 222 as needed. By sensing the actual height and position of the forklift 222 in real time through the photoelectric sensors 223, the control system can dynamically adjust the lifting commands, ensuring that the forklift 222 accurately aligns with the target textile bobbin 10 or automated workstation, avoiding collisions or material tipping caused by misalignment and guaranteeing the stability of the handling process.

[0043] Please see Figures 6 to 8 In some embodiments, multiple ball bearings 224 are fixed on both sides of the connecting frame 221 of the forklift mechanism 22. Two vertically extending guide grooves 214 are provided on the front side of the machine body 21, and the ball bearings 224 are slidably connected in the guide grooves 214 so that the forklift mechanism 22 can move up and down along the machine body 21.

[0044] Specifically, two ball bearings 224 are fixed on both sides of the connecting frame 221 of the forklift mechanism 22, and the ball bearings 224 are spaced apart along the vertical direction of the connecting frame 221. Two vertically extending guide grooves 214 are provided on the front side wall of the machine body 21, one on each side. The size of the guide grooves 214 matches the outer diameter of the ball bearings 224, which can effectively limit the lateral sway of the connecting frame 221 and make the vertical sliding of the connecting frame 221 more stable.

[0045] When the lifting motor 231 drives the lead screw shaft 232 to rotate, the moving part 233, which is threadedly connected to it, moves up and down along the axial direction of the lead screw shaft 232. The moving part 233 is fixedly connected to the connecting frame 221, thereby driving the entire forklift mechanism 22 to perform lifting and lowering movements. During this process, the ball bearing 224 rolls within the guide groove 214, which not only significantly reduces frictional resistance and improves transmission efficiency, but also avoids the jamming and wear problems caused by friction in traditional sliding structures. Especially when performing high-frequency, long-term lifting operations, this structure can effectively reduce mechanical fatigue. Furthermore, the precise fit between the guide groove 214 and the ball bearing 224 also ensures the verticality accuracy of the connecting frame 221 during the lifting process, thereby indirectly improving the accuracy of the fork arm 222 docking with the slot of the textile tube 10. This helps the robot 20 maintain stable and accurate forklift operations when facing workstations of different heights or stacked materials.

[0046] Please see Figure 7 and Figure 8In some embodiments, the fork arm 222 includes a horizontal straight section and a vertical section 2222. The vertical section 2222 of the fork arm 222 is fixed to the connecting frame 221, and the horizontal section 2221 of the fork arm 222 extends horizontally in a direction away from the machine body 21; the upper surface of the horizontal section 2221 of the fork arm 222 is provided with an anti-slip rubber pad.

[0047] Specifically, the fork arm 222 of the textile robot 20 is designed in an "L" shape, consisting of a vertical section 2222 and a horizontal section 2221. The vertical section 2222 of the fork arm 222 is directly fixed to the front side of the connecting frame 221. The horizontal section 2221 of the fork arm 222 extends horizontally from the vertical section 2222 and extends towards the side away from the machine body 21 to insert into and support the slot structure at the bottom of the textile bobbin 10, achieving stable forking.

[0048] On the upper surface of the fork arm 222, especially in the area used to support the material, an anti-slip rubber pad is provided. The rubber pad material has a high coefficient of friction and a certain degree of flexibility, which can form an effective contact buffer layer between the fork arm 222 and the textile drum 10. It can prevent the material from sliding or shaking during the operation or turning of the robot 20, and help ensure the stability of the textile drum 10 during transportation.

[0049] Please see Figure 8 In some embodiments, the connecting frame 221 is provided with a limit switch 225, which is electrically connected to the control system. The machine body 21 is provided with a triggering part for triggering the limit switch 225. When the forklift mechanism 22 rises or falls to a preset limit position, the triggering part triggers the corresponding limit switch 225, so that the control system stops the movement of the lifting motor 231, thereby stopping the lifting action.

[0050] The limit switch 225 can be a mechanical or photoelectric structure, possessing stable trigger response capability. It is located at a specific upper or lower limit position on the lifting path of the connecting frame 221. The corresponding triggering part is fixedly installed on the machine body 21, used to physically contact or sense and trigger the limit switch 225 when the fork mechanism 22 reaches its limit. When the lifting motor 231 drives the connecting frame 221 to move the fork mechanism 22 upwards or downwards to a preset end position, the triggering part contacts the limit switch 225, thereby outputting a limit signal to the control system. Upon receiving the limit signal, the control system immediately issues a control command to stop the lifting motor 231, causing the motor to stop rotating, thus terminating the rotation of the lead screw 232 and further movement of the moving part 233, preventing the connecting frame 221 from overtraveling. This effectively achieves physical protection and electrical control of the lifting limit position of the fork mechanism 22, improving the overall intelligence level and operational stability of the textile robot 20.

[0051] Please see Figures 3 to 5 In some embodiments, a depth camera 226 is provided on the connecting frame 221. The depth camera 226 is electrically connected to the control system. The depth camera 226 is used to collect three-dimensional image information of the area in front of the forklift mechanism 22 in order to identify the position and posture of the target item, thereby assisting the control system in controlling the forklift mechanism 22 to perform positioning.

[0052] Specifically, the depth camera 226 is mounted at the front end of the connecting frame 221, facing the area in front of the forklift mechanism 22, in order to achieve complete monitoring of the space where the target object is located. The depth camera 226 is a sensing device with three-dimensional imaging capabilities, which can acquire spatial image data of the area in front of it in real time, and transmit the three-dimensional image information to the control system inside the body 21 through the data cable on the cable chain 213 connected to the body 21 and the forklift mechanism 22.

[0053] After receiving 3D image information from depth camera 226, the control system uses built-in image processing algorithms to identify and analyze the shape, spatial position, and orientation of the target object, such as the textile tube 10, thereby obtaining the specific coordinates and orientation information of the target object in 3D space. Based on the identified information, the control system can further calculate the optimal fork-picking path and the positioning parameters of the fork arm 222, and control the fork-picking mechanism 22 to precisely align the fork arm 222 with the slot on the bottom of the object for picking up the item.

[0054] By using the depth camera 226 and the control system, the limitations of manual visual inspection or fixed coordinate control in terms of positioning accuracy and adaptability to environmental changes are effectively solved. This enables the forklift mechanism 22 to automatically identify, dynamically track, and precisely dock target items, improving the intelligence level of the robot 20 in the automated handling process. It is particularly suitable for scenarios such as textile workshops where target materials have similar appearances but randomly changing stacking positions.

[0055] Please see Figure 2 In some embodiments, the wheel mechanism 24 includes two driven wheels 242 and two driving wheels 241. The two driving wheels 241 are disposed at the bottom of the body 21 and are connected to a drive motor inside the body 21. Two extension plates 215 are provided on the front side of the body 21, the extension plates 215 are located between two fork arms 222 and extend along the direction of the fork arms 222; the driven wheels 242 are disposed on the bottom surface of the free end of the extension plates 215.

[0056] Specifically, the wheel mechanism 24 consists of two driving wheels 241 and two driven wheels 242, forming a stable four-wheel support structure, thereby improving the robot 20's balance when driving in complex conditions in the textile workshop. The two driving wheels 241 are located at the bottom of the body 21, near the center of gravity, and are connected to a drive motor inside the body 21 via a transmission structure. The drive motor can precisely control the rotation direction and speed of the driving wheels 241 to enable the robot 20 to perform actions such as straight-line movement, turning, and speed changes.

[0057] Two extension plates 215 are symmetrically arranged on the front side of the robot body 21. The extension plates 215 are located between the two forks 222 and extend forward along the direction of the forks 222, forming a forward-protruding support arm. A driven wheel 242 is respectively installed on the bottom surface of the free end of each extension plate 215. The driven wheel 242 assists the robot 20 in supporting the front load and maintaining stable operation. The driven wheel 242 is positioned close to the load-bearing end of the forking mechanism 22, thus effectively mitigating the risk of the robot body 21 tilting due to the forward shift of the material's center of gravity when lifting heavy objects, enhancing the overall structural stability during material handling. While the drive wheel 241 provides power output, the driven wheel 242 effectively shares the front load. The operational flexibility and small turning radius of the entire wheel mechanism 24 help improve the robot 20's safe operation in narrow passages.

[0058] Please see Figure 5 In some embodiments, the robot 20 also includes a 3D LiDAR 26 and a protective radar 27 electrically connected to the control system. The 3D LiDAR 26 is disposed on the top of the robot body 21 and is used to scan the environment around the robot 20 and generate three-dimensional map data for path planning and navigation decisions. The protective radar 27 is disposed on the side wall of the robot body 21 and is used to detect obstacle information in the robot 20's movement path in real time to assist obstacle avoidance control.

[0059] Specifically, a vertically extending column 211 is located on the top of the robot body 21, and a 3D LiDAR 26 is installed on the top surface of the column 211. Its high-precision 3D scanning capability allows for a 360-degree, blind-spot-free spatial scan around the robot 20. The 3D LiDAR 26 can collect real-time spatial structural information within the workshop, including equipment, passageways, walls, and moving objects, thereby generating high-precision 3D map data, which is then transmitted to the control system inside the robot body 21. The control system combines this 3D map data for path planning and navigation decisions, accurately constructing the optimal movement path to ensure that the robot 20 efficiently and smoothly completes the designated task path within the textile workshop.

[0060] Two protective radars 27 are installed, positioned at the corners of the side walls of the robot 21, close to the ground. These radars 27 can monitor obstacles and personnel movement behind, to the sides, and below the robot 20 in real time. They can also quickly transmit the captured obstacle information to the control system. After analyzing the obstacle position and distance data, the control system can immediately issue control commands such as deceleration, braking, or detour, thereby enabling timely avoidance of sudden obstacles during movement.

[0061] Please see Figure 5 In some embodiments, the robot 20 further includes at least three cameras 28, all of which are electrically connected to the control system. The cameras 28 are mounted at different positions on the robot body 21 and face different directions to collect image information of the environment surrounding the robot 20. The control system can perform environmental recognition and path assistance based on the image information.

[0062] Specifically, the cameras 28 equipped on the robot 20 are mounted on the columns 211 of the robot body 21, each facing a different direction, such as front, left, right, or rear, thus forming multi-angle visual coverage of the environment surrounding the robot 20. Each camera 28 is electrically connected to the control system inside the robot body 21. The cameras 28 can collect image information of the environment in which the robot 20 is located, including aisles, obstacles, ground markings, personnel activities, etc. The image data collected by the cameras 28 is transmitted to the control system in real time. The control system analyzes and processes the collected information through image recognition algorithms to determine the status of environmental feature points, dynamic targets, or travel paths, and based on this judgment result, assists in deciding the robot 20's movement direction, turning angle, or obstacle avoidance behavior.

[0063] The arrangement of multiple cameras 28 achieves redundant coverage of visual information, effectively improving the accuracy and stability of environmental recognition. Even if there is interference from occlusion or changes in lighting in one direction, supplementary image information can be provided by cameras 28 in other directions, enhancing the system's adaptability to complex scenes. The coordinated use of the cameras 28 also enables visual fusion processing, providing a more spatially perceptive foundation for scene understanding, such as identifying the location of forked targets, detecting personnel approach, and assisting in navigation route determination. As a supplement to the radar system for navigation and obstacle avoidance, this vision system further improves the operational reliability and intelligent decision-making capabilities of the robot 20 under varying working conditions, making the robot's operations in the textile workshop more precise, safe, and efficient.

[0064] Please see Figure 5 and Figure 6In some embodiments, the robot 20 further includes a wireless communication module 25. The wireless communication module 25 includes an antenna 251, a router 252, and a remote control signal receiving unit 253. The antenna 251 is located on the top of the robot body 21 and is electrically connected to the router 252 on the front side of the robot body 21. The router 252 is electrically connected to the remote control signal receiving unit 253, and the remote control signal receiving unit 253 is electrically connected to the control system, enabling data communication and remote control between the robot 20 and the host computer system in the textile workshop.

[0065] Antenna 251 is mounted on the column 211 of the robot body 21 and is responsible for receiving and transmitting wireless signals. Antenna 251 is connected to router 252 located on the front side of the robot body 21 via a wire. Router 252 acts as a data forwarding and management center, converting wireless signals into a command format recognizable by the control system. Router 252 is also connected to remote control signal receiving unit 253 via a wire. Remote control signal receiving unit 253 acquires control commands from the upper-level computer system or remote control terminal in the textile workshop and transmits these commands to the internal control system. The control system adjusts the robot 20's motion trajectory, lifting actions, and other working states according to the received commands, achieving remote control and data exchange. Wireless communication module 25 enables real-time information exchange between the robot 20 and the upper-level computer system in the textile workshop, thereby realizing remote monitoring, task assignment, and status feedback, greatly improving the flexibility and automation level of the robot 20's operation.

[0066] In summary, this embodiment provides a textile robot 20 and a robot system 100. The robot 20 drives the lead screw shaft 232 to rotate via a lifting motor 231, causing the moving part 233 on the lead screw shaft 232 to move up and down along the lead screw shaft 232. Compared with traditional hydraulic or chain transmission methods, it has higher positioning accuracy and repeatability, and can accurately control the height of the fork arm 222 with a small error range. The mechanical self-locking of the lead screw shaft 232 and the moving part 233 can also prevent the fork arm 222 from sliding down due to power failure or sudden situations, improving operational safety. At the same time, the photoelectric sensor 223 set at the bottom of the fork arm 222 can detect the relative height of the fork arm 222 to the ground or the distance to the target object in real time. After the collected data is input into the control system, it can control the lifting motor 231, so that the lifting stroke can be adjusted in a closed loop, realizing dynamic height calibration. This effectively avoids problems such as docking failure, material tilting or collision caused by height error, ensuring the accuracy and stability of the fork operation, which is especially suitable for the scenario requirements of precise docking of textile bobbins 10 to production stations.

[0067] Although the present invention has been described with reference to several typical embodiments, it should be understood that the terminology used is descriptive and exemplary, and not restrictive. Since the present invention can be embodied in many forms without departing from the spirit or essence of the invention, it should be understood that the above embodiments are not limited to any of the foregoing details, but should be interpreted broadly within the spirit and scope defined by the appended claims. Therefore, all variations and modifications falling within the scope of the claims or their equivalents should be covered by the appended claims.

Claims

1. A textile robot, characterized in that, include: body; A wheel mechanism, located at the bottom of the machine body, is used to drive the robot to move within the textile workshop; The fork-lifting mechanism includes a connecting frame and two fork arms. The connecting frame is slidably connected to the front side of the machine body, and the two fork arms are fixed on both sides of the connecting frame and can move up and down with the connecting frame. The distance between the two fork arms is adapted to the width of the textile tube. A photoelectric sensor is provided at the bottom of the automatic end of the fork arm. The lifting drive mechanism includes a lifting motor, a lead screw shaft, and a moving part. The lifting motor is fixed to the front side of the machine body. The lifting motor is driven by the vertically extending lead screw shaft. The moving part is threaded onto the lead screw shaft and is fixedly connected to the connecting frame of the forklift mechanism. The lifting motor can drive the lead screw shaft to rotate, thereby driving the moving part on the lead screw shaft and the forklift mechanism fixedly connected to the moving part to move up and down. The control system is located inside the machine body. The photoelectric sensors of the wheel mechanism, the lifting drive mechanism, and the fork mechanism of the control system are connected to each other. The control system enables the robot to move automatically in the textile workshop and automatically obtains the height information of the fork arm through the photoelectric sensor, thereby controlling the lifting position of the fork arm so that the fork arm can be accurately docked with the textile cylinder or production station.

2. The textile robot according to claim 1, characterized in that, Multiple ball bearings are fixed on both sides of the connecting frame of the forklift mechanism. Two vertically extending guide grooves are provided on the front side of the machine body. The ball bearings are slidably connected in the guide grooves so that the forklift mechanism can move up and down along the machine body.

3. The textile robot according to claim 1, characterized in that, The connecting frame is equipped with a depth camera, which is electrically connected to the control system. The depth camera is used to acquire three-dimensional image information of the area in front of the forklift mechanism to identify the position and posture of the target item, thereby assisting the control system in controlling the forklift mechanism to perform positioning.

4. The textile robot according to claim 1, characterized in that, The fork arm includes a horizontal straight section and a vertical section; the vertical section of the fork arm is fixed on the connecting frame, and the horizontal section of the fork arm extends horizontally in a direction away from the machine body; the upper surface of the horizontal section of the fork arm is provided with an anti-slip rubber pad.

5. The textile robot according to claim 1, characterized in that, The connecting frame is equipped with a limit switch, which is electrically connected to the control system. The machine body is equipped with a triggering part for triggering the limit switch. When the fork lifting mechanism is raised or lowered to a preset limit position, the triggering part triggers the corresponding limit switch, so that the control system stops the movement of the lifting motor and thus stops the lifting action.

6. The textile robot according to claim 1, characterized in that, The wheel mechanism includes two driven wheels and two driving wheels; the two driving wheels are located at the bottom of the machine body and are connected to the drive motor inside the machine body; two extension plates are provided on the front side of the machine body, the extension plates are located between two forks and extend along the direction of the forks; the driven wheels are located on the bottom surface of the free end of the extension plates.

7. The textile robot according to claim 1, characterized in that, The robot also includes a wireless communication module; the wireless communication module includes an antenna, a router, and a remote control signal receiving unit; the antenna is located on the top of the robot body and is electrically connected to the router on the front side of the robot body, the router is electrically connected to the remote control signal receiving unit, and the remote control signal receiving unit is electrically connected to the control system, for realizing data communication and remote control between the robot and the host computer system of the textile workshop.

8. The textile robot according to claim 1, characterized in that, The robot also includes a 3D LiDAR and a protective radar electrically connected to the control system; the 3D LiDAR is located on the top of the robot body and is used to scan the robot's surrounding environment and generate three-dimensional map data for path planning and navigation decisions; the protective radar is located on the side wall of the robot body and is used to detect obstacle information in the robot's movement path in real time for assisting obstacle avoidance control.

9. The textile robot according to claim 1, characterized in that, The robot also includes at least three cameras, all of which are electrically connected to the control system. The cameras are installed at different positions on the robot body and face different directions to collect image information of the robot's surrounding environment. The control system can perform environmental recognition and path assistance judgment based on the image information.

10. A robot system, characterized in that, include: A textile bobbin, comprising a bobbin body, a plurality of rollers disposed on the bobbin body, and a limiting plate disposed at the bottom of the bobbin body; The two ends of the limiting plate are fixedly connected to the cylinder, and the middle part of the limiting plate forms a slot with the bottom of the cylinder at a distance. The textile robot as described in any one of claims 1-9, wherein the robot is capable of controlling the lifting and lowering of its fork arm to accurately engage the fork arm with the slot of the textile bobbin and to move the textile bobbin within the textile workshop.

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