A mobile, suspended, operating robot

Abstract

This utility model discloses a mobile hanging robot, comprising an autonomous mobile chassis and a storage module mounted thereon. The storage module includes a main frame, a piece hanger, and a garment hanger. The main frame is used to assemble the hangers to the chassis. The piece hanger is used to suspend sheet-like cut pieces, and the garment hanger is used to suspend finished or semi-finished garments. The piece hanger has a horizontal support for the cut pieces and a rotatably connected piece suspension arm, while the garment hanger has a horizontal support for the garments and multiple rotatably connected garment suspension arms. This robot has autonomous mobility and can flexibly change its transport path and arrival station according to production orders, process flows, or production line reorganization needs, improving production flexibility and adapting to different production conditions. It eliminates the need for laying numerous fixed tracks, reducing installation difficulty, shortening the installation cycle, reducing floor space and modification costs, and allowing free movement within the workshop to efficiently transfer materials between different areas, meeting flexible scheduling requirements.

Description

Technical Field

[0001] This utility model relates to the field of hanging and transferring equipment technology, and in particular to a mobile hanging and transferring robot. Background Technology

[0002] In modern production workshops of the garment and textile industry, fixed garment hanging and transport systems are widely used to improve production efficiency. These systems automatically transport materials such as cut pieces and semi-finished garments between workstations on the assembly line through pre-set tracks and hangers, reducing manual handling and optimizing production rhythm.

[0003] However, existing fixed hanging systems have significant limitations: First, their installation requires laying a large number of fixed tracks, placing strict requirements on workshop layout and height. The installation process is complex, time-consuming, and requires a large area, resulting in high modification costs. Second, the system lacks flexibility. Once installed, its transport routes and workstation locations are fixed, making it difficult to adapt to changes in production orders, process adjustments, or production line reorganization. This is particularly problematic for small and medium-sized garment enterprises, where the high initial investment and rigid layout make it difficult to implement. Finally, fixed hanging systems typically focus on material flow within the main production line, making it difficult to efficiently accommodate flexible material scheduling between different production lines, processes, or between warehouses and production lines. Utility Model Content

[0004] The purpose of this utility model is to disclose a mobile hanging robot that combines the flexibility of an autonomous mobile robot (AGV) with a dedicated hanging storage structure, thereby realizing intelligent, efficient, and flexible transfer of materials such as cut pieces and garments in the workshop.

[0005] To achieve the above objectives, this utility model discloses a mobile hanging and operating robot, comprising: an autonomous mobile chassis; and a storage module disposed on the autonomous mobile chassis. The storage module includes a main frame, a piece hanging rack, and a garment hanging rack. The piece hanging rack is used to suspend piece-shaped cut fabrics, and the garment hanging rack is used to suspend finished garments or semi-finished garments. The main frame is used to assemble the piece hanging rack and the garment hanging rack onto the autonomous mobile chassis. The piece hanging rack includes a horizontal piece support and a piece suspension arm rotatably connected to the horizontal piece support. The garment hanging rack includes a horizontal garment support and multiple garment suspension arms rotatably connected to the horizontal garment support.

[0006] By adopting the above solution, the mobile overhead conveyor robot possesses autonomous movement capabilities. It can flexibly change its transport path and destination workstation according to changes in production orders, process adjustments, or production line reorganization needs, improving production flexibility and adapting to different production situations. Furthermore, it eliminates the need for laying numerous fixed tracks, reducing installation complexity and strict requirements on workshop space, thereby lowering installation difficulty, shortening the installation cycle, reducing floor space requirements, and lowering modification costs. Thanks to its autonomous movement characteristics, the mobile overhead conveyor robot can move freely within the workshop, efficiently facilitating material transfer between different production lines, processes, or between warehouses and production lines, meeting the needs of flexible material scheduling.

[0007] Furthermore, the storage module also includes a fence that surrounds the edge of the autonomous mobile chassis, with a cargo cavity for storing auxiliary materials formed in the center of the fence.

[0008] By adopting the above solution, the workshop floor may be uneven or contain obstacles during robot movement, which could cause the robot to bump or shake. The enclosure can confine the auxiliary materials placed in the cargo cavity within a certain space, preventing them from falling due to robot movement and reducing material loss and waste. The enclosure clearly defines the storage areas, with the central cargo cavity specifically for storing auxiliary materials, distinguishing it from materials stored on the cut piece racks and garment racks. This clear zoning allows different types of materials to be stored in an orderly manner, avoiding material mixing and improving the rational utilization of space. The enclosed cargo cavity fully utilizes the space above the autonomous mobile chassis, providing additional space for auxiliary material storage without increasing the overall footprint of the robot, thus increasing material storage capacity. Because the enclosure standardizes the auxiliary material storage area, workers can quickly locate the required auxiliary materials, reducing search time. At the same time, the opening design of the enclosure facilitates workers placing or retrieving auxiliary materials into or from the cargo cavity, improving material retrieval efficiency.

[0009] Furthermore, the main frame includes: a first column, which is vertically mounted to one end of the autonomous mobile chassis; a second column, which is vertically mounted to the other end of the autonomous mobile chassis; and a third horizontal bar, which is horizontally connected between the top ends of the first column and the second column.

[0010] By adopting the above scheme, the first and second columns are vertically mounted at both ends of the autonomous mobile chassis, providing solid vertical support for the entire main frame. During robot movement, regardless of road conditions or external forces, the columns at both ends effectively distribute the force, preventing the frame from tilting or swaying and ensuring the robot's stability during operation. The third horizontal bar connects the tops of the first and second columns horizontally, further enhancing the frame's stability.

[0011] Furthermore, the slide carrier horizontal support includes: a first slide carrier support, which is assembled on one side of the main frame; and a second slide carrier support, which is assembled on the other side of the main frame; wherein the first slide carrier support and the second slide carrier support are symmetrical about a third horizontal bar.

[0012] By adopting the above scheme, the symmetrical distribution design allows the first and second piece carrier supports to evenly distribute the force on both sides of the main frame when bearing the weight of the cut pieces. This balanced force distribution avoids frame tilting or deformation caused by excessive force on one side, enhancing the structural stability of the entire piece carrier support and even the entire robot. During robot movement, even when encountering bumps or turns, the stability of the piece carrier can be guaranteed, reducing the risk of pieces falling. The first and second piece carrier supports are located on opposite sides of the main frame, effectively providing two independent storage areas for the cut pieces.

[0013] Furthermore, the edge of the first slide holder's orthographic projection onto the cargo cavity does not extend beyond the edge of the cargo cavity, and the edge of the second slide holder's orthographic projection onto the cargo cavity does not extend beyond the edge of the cargo cavity.

[0014] By adopting the above solution, if the projection of the fabric carrier extends beyond the edge of the cargo cavity during robot movement, the suspended fabric pieces may collide with other equipment, items, or personnel in the workshop due to shaking, causing damage or falling. This design ensures that the fabric pieces are always within a relatively safe storage range, reducing material loss caused by collisions and guaranteeing the quality and integrity of the materials.

[0015] Furthermore, the horizontal garment support is assembled between the first column and the second column, and is offset from the first and second carrier supports of the horizontal carrier support.

[0016] By adopting the above scheme, the staggered arrangement allows garments and cut pieces to be stored in different locations, creating a clear distinction. Workers can quickly and accurately identify and locate the required materials, avoiding confusion whether storing or retrieving garments or cut pieces. This significantly improves the efficiency and accuracy of material management and reduces production errors caused by material mixing. During robot movement, garments and cut pieces will not collide or become entangled due to proximity. The staggered layout of the garment horizontal support and the cut piece horizontal support provides relatively independent space for both, ensuring the integrity and neatness of garments and cut pieces during transportation.

[0017] Furthermore, the horizontal garment support, the first carrier support, and the second carrier support are each provided with a pair of support arm assemblies, each support arm assembly including a first arm and a second arm; one end of the carrier suspension arm or garment suspension arm is hinged to the first arm, and the other end abuts against the second arm; or, one end of the carrier suspension arm or garment suspension arm is hinged to the second arm, and the other end abuts against the first arm; wherein, a space is reserved between the first arm and the second arm for the carrier suspension arm or garment suspension arm to rotate and avoid obstacles.

[0018] By adopting the above scheme, one end of the carrier suspension arm is hinged to the first or second arm, and the other end abuts against another arm. This design allows the carrier suspension arm to rotate within a certain range. Workers can flexibly adjust the angle of the carrier suspension arm according to actual needs, such as the size, shape, or suspension method of different cut pieces, to achieve the optimal suspension state for the cut pieces, thus improving the equipment's adaptability to different materials.

[0019] Furthermore, the length of the carrier hanging arm or clothing hanging arm is greater than or equal to the distance between the first arm and the second arm.

[0020] By adopting the above scheme, the suspension arm can rotate into the clearance space to remove the material. When rotating in the opposite direction, the suspension arm cannot continue to rotate due to its large length, thus achieving the effect of clamping the material.

[0021] Furthermore, an interactive display module is also provided on the main frame.

[0022] By adopting the above solution, the interactive display module can showcase the robot's operation process and steps in real time, presented in the form of rich graphics, animations, or video tutorials. New operators can quickly learn how to operate the robot without extensive training, lowering the operational threshold and improving efficiency and accuracy. During operation, the display module provides real-time feedback on the robot's running status, such as the current working mode, movement speed, and the quantity and location of hanging clothing. Operators can adjust their operating strategies promptly based on this feedback to ensure the robot operates as expected, avoiding malfunctions or accidents caused by improper operation.

[0023] Furthermore, the autonomous mobile chassis is an AGV (Automated Guided Vehicle) or an AMR (Automatic Mobile Robot).

[0024] By adopting the above solution and using AGV (Automated Guided Vehicle) carts as autonomous mobile chassis, the manual handling of clothing can be reduced, thus lowering the demand for a large number of manual laborers. AMR (Automatic Mobile Robot) robots have a higher degree of automation, enabling them to complete more complex transportation tasks and further reducing reliance on skilled manual laborers.

[0025] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0026] 1. Mobile overhead conveyor robots possess autonomous movement capabilities, flexibly changing transport routes and workstations according to new production demands. For example, when a production order shifts from one style of garment to another, the robot can quickly adjust its transport route, accurately delivering the corresponding cut pieces and semi-finished garments to the new production workstation, ensuring smooth production. Its mobility allows the robot to adapt to production workshops of different sizes and layouts. Whether in the complex production lines of large garment enterprises or the compact production spaces of small and medium-sized enterprises, robots can be flexibly deployed according to actual conditions. In small and medium-sized enterprises, due to limited space and small production scale, the high initial investment and rigid layout of traditional fixed systems make them difficult to apply, while mobile overhead conveyor robots can meet their production needs with lower costs and greater flexibility.

[0027] 2. Mobile overhead crane robots require no fixed tracks; they can be put into use simply by installing storage modules on an autonomous mobile chassis. This significantly reduces installation complexity and strict requirements on workshop space, lowering the difficulty and cost of installation. Since there is no need for tedious installation work such as track laying, the installation cycle of mobile overhead crane robots is significantly shortened. Enterprises can put robots into production more quickly, reducing production downtime caused by equipment installation and improving production efficiency.

[0028] 3. Traditional fixed overhead conveyor systems typically focus on material flow within the main production line, making it difficult to efficiently manage material scheduling between different production lines. Mobile overhead conveyor robots, with their autonomous mobility, can move freely within the workshop, efficiently transferring materials between different production lines. For example, when a production line experiences a shortage of a certain raw material, the robot can quickly transport the required material from other production lines or warehouses, ensuring production continuity. In garment production, each process needs close coordination to optimize the production cycle. Mobile overhead conveyor robots can promptly transport materials such as cut pieces and semi-finished garments from one process to the next based on production progress and process requirements, reducing material waiting time between processes and improving production efficiency. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a three-dimensional structural diagram of an embodiment of the present utility model;

[0031] Figure 2 This is a front structural diagram of an embodiment of the present utility model;

[0032] Figure 3 This is a schematic diagram of the support arm assembly and suspension arm assembly structure according to an embodiment of the present utility model.

[0033] Key reference numerals in the attached drawings: 1. Autonomous mobile chassis; 2. Storage module; 21. Fence; 22. Cargo cavity; 3. Main frame; 31. First column; 32. Second column; 33. Third horizontal bar; 4. Piece hanger; 41. Piece horizontal support; 411. First piece support; 412. Second piece support; 42. Piece suspension arm; 5. Clothing hanger; 51. Clothing horizontal support; 52. Clothing suspension arm; 6. Support arm assembly; 61. First arm; 62. Second arm; 63. Clearance space; 7. Interactive display module. Detailed Implementation

[0034] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0035] In this invention, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this invention and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.

[0036] Furthermore, in addition to indicating direction or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this utility model according to the specific circumstances.

[0037] Furthermore, the terms "installation," "setup," "equipped with," "connection," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this utility model based on the specific circumstances.

[0038] Furthermore, the terms "first," "second," etc., are primarily used to distinguish different devices, components, or parts (which may be the same or different in specific type and construction), and are not intended to indicate or imply the relative importance or quantity of the indicated devices, components, or parts. Unless otherwise stated, "a plurality of" means two or more.

[0039] The technical solution of this utility model will be further described below with reference to the embodiments and accompanying drawings.

[0040] Please refer to Embodiment 1 of this utility model. Figures 1 to 3 As shown, a mobile suspended robot is provided, comprising two main parts: an autonomous mobile chassis 1 and a storage module 2. The autonomous mobile chassis 1 provides the robot with the power to move and can be either an AGV (Automated Guided Vehicle) or an AMR (Automatic Mobile Robot). The storage module 2 is mounted on the autonomous mobile chassis 1 and is used to store and transfer materials such as cut pieces, garments, and accessories. It includes a main frame 3, cut piece hangers 4, garment hangers 5, a fence 21, and an interactive display module 7.

[0041] The autonomous mobile chassis 1, serving as the power source and mobile foundation for the entire robot, bears the crucial task of moving the storage module 2 to its designated location. In this embodiment 1, the autonomous mobile chassis 1 is an AGV (Automated Guided Vehicle). AGVs possess mature navigation and positioning technologies, enabling them to travel accurately along preset routes while exhibiting good stability and load capacity, meeting the material transfer needs within garment and textile workshops. In other embodiments, if higher levels of automation and flexibility are required, an AMR (Autonomous Mobile Robot) can also be selected as the autonomous mobile chassis 1, possessing stronger environmental perception and autonomous decision-making capabilities, and adapting to more complex workshop environments.

[0042] The main frame 3 is the basic support structure of the storage module 2, and it consists of a first column 31, a second column 32, and a third horizontal bar 33. The first column 31 is vertically mounted to one end of the autonomous mobile chassis 1, the second column 32 is vertically mounted to the other end of the autonomous mobile chassis 1, and the third horizontal bar 33 is horizontally connected between the tops of the first column 31 and the second column 32. This structural layout provides solid support for the entire storage module 2, ensuring that the storage module 2 remains stable during robot movement and will not tilt or shake due to bumps or external forces.

[0043] The piece hanger 4 is used to suspend sheet-like cut pieces for easy access. It includes a horizontal piece support 41 and a piece suspension arm 42 rotatably connected to the horizontal piece support 41. The horizontal piece support 41 is composed of a first piece support 411 and a second piece support 412. The first piece support 411 is mounted on one side of the main frame 3, and the second piece support 412 is mounted on the other side of the main frame 3. The first piece support 411 and the second piece support 412 are symmetrically distributed about a third horizontal bar 33. This symmetrical design ensures that when the piece hanger 4 bears the weight of the cut pieces, the force is evenly distributed to both sides of the main frame 3, enhancing the stability of the structure. At the same time, the edges of the orthographic projections of the first piece support 411 and the second piece support 412 onto the cargo cavity 22 do not extend beyond the edge of the cargo cavity 22, ensuring the safety of the cut pieces during transportation and preventing damage or falling of the cut pieces due to collisions.

[0044] The garment rack 5 is used to hang finished or semi-finished garments, avoiding creases caused by folding and facilitating easy access. The garment horizontal support 51 is assembled between the first column 31 and the second column 32, and is staggered from the first and second piece carrier supports 411 and 412 of the piece carrier horizontal support 41. This staggered layout allows garments and cut pieces to be stored in different locations, creating a clear distinction and facilitating quick and accurate identification and location of required materials by workers, improving the efficiency and accuracy of material management. Simultaneously, during robot movement, garments and cut pieces will not collide or entangle due to proximity, ensuring the integrity and neatness of the materials.

[0045] Both the first sheet carrier bracket 411 and the second sheet carrier bracket 412 are equipped with paired support arm assemblies 6, each consisting of a first arm 61 and a second arm 62. One end of the sheet carrier suspension arm 42 is hinged to the first arm 61, and the other end abuts against the second arm 62; alternatively, one end of the sheet carrier suspension arm 42 is hinged to the second arm 62, and the other end abuts against the first arm 61, with a reserved space 63 between the first arm 61 and the second arm 62 for the sheet carrier suspension arm 42 to rotate and avoid obstacles. The length of the sheet carrier suspension arm 42 is greater than or equal to the distance between the first arm 61 and the second arm 62, allowing the sheet carrier suspension arm 42 to rotate within a certain range. Workers can flexibly adjust the angle of the sheet carrier suspension arm 42 according to the size, shape, and hanging method of different cut sheets to achieve the optimal hanging state for the cut sheets. When materials need to be retrieved, the suspension arm can rotate into the avoidance space 63; when rotating in the opposite direction, due to the large length of the suspension arm, it cannot continue to rotate, thus achieving the effect of clamping the materials and ensuring that the cut sheets will not fall during transportation.

[0046] The horizontal garment support 51 is also equipped with paired support arm assemblies 6, which include a first arm 61 and a second arm 62. One end of the garment hanging arm 52 is hinged to the first arm 61, and the other end abuts against the second arm 62; or one end of the garment hanging arm 52 is hinged to the second arm 62, and the other end abuts against the first arm 61, with a reserved space 63 between the first arm 61 and the second arm 62 for the garment hanging arm 52 to rotate and avoid obstruction. The length of the garment hanging arm 52 is greater than or equal to the distance between the first arm 61 and the second arm 62. This design allows the garment hanging arm 42 to rotate within a certain range. Its structure and working principle are similar to the support arm assembly 6 on the garment hanging rack 4, and the angle of the garment hanging arm 52 can be flexibly adjusted according to the size and shape of different garments to achieve the optimal hanging state for the garment.

[0047] In this embodiment 1, a fence 21 is formed along the edge of the autonomous mobile chassis 1, with a cargo cavity 22 for storing auxiliary materials in the center of the fence 21. During robot movement, the workshop floor may be uneven or contain obstacles, which can cause the robot to bump or shake. The fence 21 can confine the auxiliary materials placed in the cargo cavity 22 within a certain space, preventing them from falling due to robot movement and reducing material loss and waste. At the same time, the fence 21 clearly defines the storage area, with the central cargo cavity 22 specifically for storing auxiliary materials, distinguishing it from the materials stored on the cut piece rack 4 and clothing rack 5, allowing different types of materials to be stored in an orderly manner and improving the rationality of space utilization. The enclosed cargo cavity 22 makes full use of the space above the autonomous mobile chassis 1, providing additional space for storing auxiliary materials without increasing the overall footprint of the robot, thus increasing the material storage capacity. In addition, the opening design of the fence 21 makes it convenient for workers to put or take out auxiliary materials into or out of the cargo cavity 22, improving the efficiency of material retrieval.

[0048] In some embodiments, an interactive display module 7 may also be included, which is mounted on the third horizontal bar 33 of the main frame 3. This interactive display module 7 has multiple functions. Firstly, it can display the robot's operation process and steps in real time, presented in the form of graphics, animations, or video tutorials. New operators can quickly learn how to operate the robot without extensive training, lowering the operational threshold and improving efficiency and accuracy. Secondly, during operation, the display module can provide real-time feedback on the robot's operating status, such as the current working mode, movement speed, and the number and position of hanging clothing. Operators can adjust their operating strategies promptly based on this feedback to ensure the robot operates as expected and avoid malfunctions or accidents caused by improper operation. Furthermore, the interactive display module 7 also incorporates recording and voice broadcasting functions, facilitating operator input of commands and transmission of information.

[0049] In actual use, employees call the AGV (Automated Guided Vehicle) cart via mobile phone or pager. Upon receiving the instruction, the AGV cart arrives at the designated location according to the preset navigation route. Workers place the cut pieces, garments, and accessories to be processed into storage module 2. Cut pieces are suspended on cut piece racks 4, garments are hung on garment racks 5, and accessories are stored in the cargo cavity 22 enclosed by fences 21. Then, workers display or input material information on the human-machine interface, record voice instructions or input process requirements, and specify the delivery destination. The AGV cart delivers the materials to the designated employee according to the specified destination and preset route. After receiving the materials, the employee plays back the recording or checks the notes to understand the processing requirements of the cut pieces or garments, thus proceeding with subsequent production operations.

[0050] The technical means disclosed in this utility model are not limited to those disclosed in the above embodiments, but also include technical solutions composed of any combination of the above technical features. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of this utility model, and these improvements and modifications are also considered within the scope of protection of this utility model.

Claims

1. A mobile, overhung, running robot, characterized in that include: Autonomous mobile chassis (1); Storage module (2), the storage module (2) is set on the autonomous mobile chassis (1), the storage module (2) includes a main frame (3), a piece hanging rack (4) and a garment hanging rack (5), the piece hanging rack (4) is used to hang piece-shaped cut pieces, the garment hanging rack (5) is used to hang finished garments or semi-finished garments, the main frame (3) is used to assemble the piece hanging rack (4) and the garment hanging rack (5) onto the autonomous mobile chassis (1); The cut piece hanger (4) includes a cut piece horizontal support (41) and a cut piece suspension arm (42) rotatably connected to the cut piece horizontal support (41). The garment hanger (5) includes a garment horizontal support (51) and a plurality of garment suspension arms (52) rotatably connected to the garment horizontal support (51).

2. A mobile, overhead travelling robot according to claim 1, characterized in that The storage module (2) also includes a fence (21) which is formed along the edge of the autonomous mobile chassis (1), and a cargo cavity (22) for storing auxiliary materials is formed in the center of the fence (21).

3. A mobile, overhead travelling robot according to claim 2, characterized in that The main framework (3) includes: The first column (31) is vertically mounted on one end of the autonomous mobile chassis (1); The second column (32) is vertically mounted on the other end of the autonomous mobile chassis (1); The third horizontal bar (33) is horizontally connected between the top ends of the first column (31) and the second column (32).

4. A mobile, overhead travelling robot according to claim 3, characterised in that The slide horizontal support (41) includes: The first slide holder (411) is assembled on one side of the main frame (3); The second slide holder (412) is assembled on the other side of the main frame (3); The first slide holder (411) and the second slide holder (412) are symmetrical about the third horizontal bar (33).

5. A mobile, overhead travelling robot according to claim 4, characterized in that The edge of the first slide holder (411) in the orthographic projection of the cargo cavity (22) does not extend beyond the edge of the cargo cavity (22), and the edge of the second slide holder (412) in the orthographic projection of the cargo cavity (22) does not extend beyond the edge of the cargo cavity (22).

6. A movable suspended robot according to claim 3, characterized in that, The horizontal garment support (51) is assembled between the first column (31) and the second column (32), and is offset from the first and second carrier supports (411 and 412) of the horizontal carrier support (41).

7. A mobile, overhead travelling robot according to claim 6, characterized in that The horizontal garment support (51), the first substrate support (411), and the second substrate support (412) are each provided with a pair of support arm groups (6), which include a first arm (61) and a second arm (62). One end of the carrier hanging arm (42) or clothing hanging arm (52) is hinged to the first arm (61), and the other end abuts against the second arm (62); or, One end of the carrier hanging arm (42) or clothing hanging arm (52) is hinged to the second arm (62), and the other end abuts against the first arm (61); There is a reserved space (63) between the first arm (61) and the second arm (62) for the carrier hanging arm (42) or the clothing hanging arm (52) to rotate and avoid each other.

8. A mobile, overhead travelling robot according to claim 7, characterised in that The length of the carrier hanging arm (42) or clothing hanging arm (52) is greater than or equal to the distance between the first arm (61) and the second arm (62).

9. A mobile, suspended, travelling robot according to any one of claims 1-8, characterized in that, An interactive display module (7) is also provided on the main frame (3).

10. A movable sling-operated robot according to any one of claims 1-8, characterized in that, The autonomous mobile chassis (1) is an AGV vehicle or an AMR robot.

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