CN117466208A - Automatic change grey cloth carrier - Google Patents

Abstract

The application discloses automatic change grey cloth carrier, its mounting panel is fixed in the installing frame middle part, and elevating system locates the mounting panel rear side, and the four corners of mounting panel downside is located to the universal wheel, and the elastic drive steering wheel subassembly runs through the mounting panel setting, and the battery runs through the mounting panel setting, and elevating system, elastic drive steering wheel subassembly and battery are connected with the controller. According to the product, on the basis of realizing cloth picking and placing, rapid transfer of cloth in different tool positions in a complex workshop environment is completed, and walking on the ground with uneven height or obstacles can be realized; further, the carrying operation can be automated. The device is simple in overall structure design, is combined with the mounting plate through the mounting frame, and is integrally arranged on the upper side and the lower side of the mounting plate in a penetrating mode, so that the mounting space is saved as much as possible under the condition of meeting the mounting and functional requirements, the overall structure of the device is more compact, materials are reduced, manufacturing cost is reduced, and popularization and application are facilitated.

Description

Automatic change grey cloth carrier

Technical Field

The application relates to the technical field of grey cloth carrying equipment, in particular to an automatic grey cloth carrier.

Background

Cloth is widely used in various industries as a basic industrial product, particularly for producing clothes; in the production process of some large cloth, the produced cloth is required to be rolled, 30-500kg of the whole cloth is required to be taken out of a circular knitting machine by adopting equipment such as a forklift or the like, or two persons lift the cloth out of the circular knitting machine, and then the cloth is required to be subjected to different processing treatments by continuous movement in a workshop, so that the cloth is required to be carried. The existing carrying equipment adopts a small manual forklift for carrying or a large forklift for carrying, and because a plurality of looms are arranged in a production workshop, the number of looms reaches hundreds, the arrangement space is limited, the operation of the large forklift is not facilitated, and the operation of carrying equipment is not facilitated for the small forklift because the ground condition of the workshop is complex, such as wire arrangement or maintenance equipment, baffles of the looms and the like, and the unevenness of the ground are arranged; in addition, the conventional conveying equipment usually adopts a manual or precursor or rear-drive mode, so that the cloth is not easy to take out in a narrow passage or a loom, and the conveying efficiency is reduced. The existing equipment needs to be operated manually or semi-automatically, has high labor cost, and cannot meet the requirements of automatic and unmanned chemical plants.

Disclosure of Invention

In view of the above problems, the application provides an automatic grey cloth carrier, which can realize automatic carrying of grey cloth without manual assistance, improves working efficiency and reduces production cost.

The application provides an automatic grey cloth carrier, which comprises a mounting frame, a mounting plate, a lifting mechanism, universal wheels, an elastic driving steering wheel assembly, a storage battery and a control unit, wherein the mounting plate is fixed in the mounting frame; the lifting mechanism is provided with a fixing frame, a lifting assembly and a supporting plate, the fixing frame is fixed on the rear side of the mounting plate, the lifting assembly is vertically arranged on the fixing frame, the lifting assembly is provided with a mounting seat, a screw rod, a threaded sleeve, a lifting motor, a guide rail and a sliding block, the mounting seat is fixed at the lower end of the fixing frame, the upper end and the lower end of the screw rod are respectively connected with the fixing frame through bearing seats, the threaded sleeve is in threaded connection with the screw rod, the threaded sleeve is connected with the supporting plate, the lifting motor is fixed on the mounting seat and in gear linkage with the screw rod, the guide rail is arranged on the fixing frames on the two sides of the screw rod, the sliding block is connected with the supporting plate, and the sliding block is connected with the guide rail; the elastic driving steering wheel assembly is provided with a lifting plate, a shaft sleeve, a shaft rod, a spring, a gear disc, a rotating shaft frame, an adjusting motor, a driving motor and a driving wheel, wherein the mounting plate is provided with a mounting opening, the shaft sleeve is arranged around the mounting opening, the shaft rod penetrates through the shaft sleeve and the mounting plate, the upper end of the shaft rod is connected with the lifting plate, a positioning piece is arranged at the lower end of the shaft rod, the spring is sleeved on the shaft rod between the positioning piece and the mounting plate, the gear disc is fixed on the lower side surface of the lifting plate, the rotating shaft frame is rotationally connected with the gear disc, the adjusting motor is fixed on the rotating shaft frame and is in gear connection with the gear disc, the driving wheel is rotationally arranged at the lower end of the rotating shaft frame, and the driving motor is fixed on the rotating shaft frame at one side of the driving wheel and is in linkage with the driving wheel; the laser radar is arranged at the upper end of the fixing frame; the navigation function is achieved on the walking route of the carrier; and the lifting motor, the adjusting motor, the driving motor, the laser radar and the storage battery are connected with the control unit.

In some embodiments, the mounting plate is secured to a central portion of the mounting frame.

In some embodiments, the battery is disposed through the mounting plate.

In some embodiments, the elastic driving steering wheel assembly is provided with 1 group and is arranged in the center of the mounting plate, or the elastic driving steering wheel assembly is provided with at least 2 groups and is symmetrically arranged on the mounting plate.

In some embodiments, the lifting motor, the adjusting motor and the driving motor are provided with a speed reducer, the first encoder is arranged on the rotating shaft frame and is in gear linkage with the gear disc, and the second encoder is arranged on the rotating shaft frame on the opposite side of the driving motor and is connected with the driving wheel.

In some embodiments, a photoelectric sensor is disposed between the gear plate and the rotating shaft frame.

In some embodiments, a stop bar is disposed between the lifter plate and the mounting plate.

In some embodiments, the positioning piece is provided with 2 pieces, 4 pieces or 1 piece, which are arranged at the lower end of the shaft lever.

In some embodiments, the mounting plate is provided with obstacle avoidance radar at least diagonally.

In some embodiments, the supporting plate is provided with a bracket, a micro switch is arranged in the bracket, the micro switch is arranged on the lower side surface of the supporting plate, and an induction rod of the micro switch penetrates through and extends out of the bracket; limit sensors are arranged at the upper end and the lower end of the running track of the guide rail and the sliding block.

In some embodiments, a charging jack and an automatic charging plate are arranged on one side of the mounting plate.

In some embodiments, the mounting frame is provided with a bumper strip and a warning light around.

In some embodiments, the control unit is provided with a controller, a control button and a loudspeaker, wherein the controller is arranged in the fixing frame, the control button is arranged on the upper end face of the fixing frame, the loudspeaker is arranged on two sides of the fixing frame, and the control button and the loudspeaker are connected with the controller. The control unit is also provided with a display screen, and the display screen is arranged on the upper end surface of the fixing frame.

In some embodiments, the elastically driven steering wheel assembly has a unidirectional steering range of ^± 140 deg., the overall steering angle is 280 deg..

In some embodiments, the spring driven steering wheel assembly adjusts the distance up and down to ±10mm.

The beneficial effects of this application: according to the product, on the basis of realizing cloth picking and placing, rapid transfer of cloth in different tool positions in a complex workshop environment is completed, and walking on the ground with uneven height or obstacles can be realized; further, the carrying operation can be automated. The device is simple in overall structure design, is combined with the mounting plate through the mounting frame, and is integrally arranged on the upper side and the lower side of the mounting plate in a penetrating mode, so that under the condition of meeting the mounting and functional requirements, the mounting space is saved as much as possible, the gravity center of the whole device is reduced, the movement is more stable, the overall structure of the device is more compact, the materials are reduced, the manufacturing cost is reduced, and popularization and application are facilitated.

The foregoing description is only an overview of the technical solutions of the present application, and may be implemented according to the content of the specification in order to make the technical means of the present application more clearly understood, and in order to make the above-mentioned and other objects, features and advantages of the present application more clearly understood, the following detailed description of the present application will be given.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the accompanying drawings. In the drawings:

FIG. 1 is a schematic illustration of an automated greige truck according to some embodiments of the present application;

FIG. 2 is a schematic view of the internal structure of an automated gray fabric carrier according to some embodiments of the present application;

FIG. 3 is another schematic view of an automated gray fabric carrier in accordance with some embodiments of the present application;

FIG. 4 is a schematic view of a lifting mechanism of an automated gray fabric carrier according to some embodiments of the present application;

FIG. 5 is a schematic view of a portion of an automated gray fabric carrier in accordance with some embodiments of the present application;

FIG. 6 is a schematic structural view of an elastically driven steering wheel assembly of an automated greige truck according to some embodiments of the present application;

FIG. 7 is a schematic illustration of the installation of an elastically driven steering wheel assembly of an automated greige truck according to some embodiments of the present application;

FIG. 8 is a perspective view of an elastically driven steering wheel assembly of an automated greige truck according to some embodiments of the present application;

FIG. 9 is a schematic view of a portion of an elastically driven steering wheel assembly of an automated greige truck according to some embodiments of the present application;

fig. 10 is a schematic view of another portion of an elastically driven steering wheel assembly of an automated gray carrier in accordance with some embodiments of the present application.

Reference numerals in the specific embodiments are as follows:

a mounting frame 10; charging jack 1-1; an automatic charging plate 1-2; 1-3 of anti-collision strips; 1-4 of warning lamps; a mounting plate 20; a mounting port 2-1; obstacle avoidance radar 2-2; a lifting mechanism 30; a fixing frame 3-1; a lifting assembly 3-2; 3-3 parts of supporting plates; 3-31 parts of bracket; 3-32 of micro switch; 3-33 of induction rods; 3-4 of a mounting seat; 3-5 parts of screw rods; 3-6 parts of a screw sleeve; 3-7 of a lifting motor; 3-8 of guide rails; 3-9 of sliding blocks; 3-10 of limit sensors; a universal wheel 40; a spring-driven steering wheel assembly 50; a lifting plate 5-1; 5-11 parts of limiting rods; a shaft sleeve 5-2; 5-3 parts of shaft lever; 5-31 parts of locating pieces; 5-4 of springs; 5-5 parts of gear disc; 5-51 of an encoder; 5-6 parts of a rotating shaft frame; 5-61 of photoelectric sensors; 5-7 of a regulating motor; 5-8 of driving motors; 5-81 of speed reducers; 5-9 of driving wheels; 5-91 of a second encoder; a battery 60; a control unit 70; a controller 7-1; a control button 7-2; a speaker 7-3; and a lidar 80.

Detailed Description

Embodiments of the technical solutions of the present application will be described in detail below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical solutions of the present application, and thus are only examples, and are not intended to limit the scope of protection of the present application.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having" and any variations thereof in the description and claims of the present application and in the description of the figures above are intended to cover non-exclusive inclusions.

In the description of the embodiments of the present application, the technical terms "first," "second," etc. are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present application, the meaning of "plurality" is two or more unless explicitly defined otherwise.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

In the description of the embodiments of the present application, the term "and/or" is merely an association relationship describing an association object, which means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

In the description of the embodiments of the present application, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural sheets" refers to two or more (including two).

In the description of the embodiments of the present application, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of describing the embodiments of the present application and for simplifying the description, rather than indicating or implying that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present application.

In the description of the embodiments of the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured" and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally formed; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the embodiments of the present application will be understood by those of ordinary skill in the art according to the specific circumstances.

1-3 and further FIGS. 4-10, an automated gray carrier according to some embodiments of the present application includes a mounting frame 10, a mounting plate 20, a lifting mechanism 30, a universal wheel 40, an elastically driven steering wheel assembly 50, a battery 60, and a control unit 70, wherein the mounting plate 20 is fixed in the mounting frame 10, the lifting mechanism 30 is disposed at the rear side of the mounting plate 20, the universal wheel 40 is disposed at four corners of the lower side of the mounting plate 20, the elastically driven steering wheel assembly 50 is disposed through the mounting plate 20, and the battery 60 is fixed on the mounting plate 20; the lifting mechanism 30 is provided with a fixing frame 3-1, a lifting assembly 3-2 and a supporting plate 3-3, the fixing frame 3-1 is fixed on the rear side of the mounting plate 20, the lifting assembly 3-2 is vertically arranged on the fixing frame 3-1, the lifting assembly 3-2 is provided with a mounting seat 3-4, a screw rod 3-5, a threaded sleeve 3-6, a lifting motor 3-7, a guide rail 3-8 and a sliding block 3-9, the mounting seat 3-4 is fixed at the lower end of the fixing frame 3-1, the upper end and the lower end of the screw rod 3-5 are respectively connected with the fixing frame 3-1 through bearing seats, the threaded sleeve 3-6 is in threaded connection with the screw rod 3-5, the threaded sleeve 3-6 is connected with the supporting plate 3-3, the lifting motor 3-7 is fixed on the mounting seat 3-4 and in gear linkage with the screw rod 3-5, the guide rail 3-8 is arranged on the fixing frame 3-1 at two sides of the screw rod 3-5, the sliding block 3-9 is connected with the sliding block 3-9, and the sliding block 3-8 is connected with the guide rail 3-8; the elastic driving steering wheel assembly 50 is provided with a lifting plate 5-1, a shaft sleeve 5-2, a shaft rod 5-3, a spring 5-4, a gear disc 5-5, a rotating shaft frame 5-6, an adjusting motor 5-7, a driving motor 5-8 and a driving wheel 5-9, wherein the mounting plate 20 is provided with a mounting opening 2-1, the shaft sleeve 5-2 is arranged around the mounting opening 2-1, the shaft rod 5-3 penetrates through the shaft sleeve 5-2 and the mounting plate 20, the upper end of the shaft rod 5-3 is connected with the lifting plate 5-1, the lower end of the shaft rod 5-3 is provided with a positioning piece 5-31, the spring 5-4 is sleeved on the shaft rod 5-3 between the positioning piece 5-31 and the mounting plate 20, the gear disc 5-5 is fixed on the lower side surface of the lifting plate 5-1, the rotating shaft frame 5-6 is in rotary connection with the gear disc 5-5, the adjusting motor 5-7 is fixed on the rotating shaft frame 5-6 and is in gear connection with the gear disc 5-5, the driving wheel 5-9 is rotationally arranged at the lower end of the rotating shaft frame 5-6, the motor 5-6 is in rotary connection with the driving wheel 5-9, and the driving wheel 5-9 is fixed on one side of the driving wheel 5-9; the laser radar 80 is arranged at the upper end of the fixed frame 3-1; the navigation function is achieved on the walking route of the carrier; the lifting motor 3-7, the adjusting motor 5-7, the driving motor 5-8, the laser radar 80 and the storage battery 60 are connected with the control unit 70.

The mounting frame 10 and the mounting plate 20 form a mounting base, and an L-shaped lifting frame structure is formed with a fixing frame 3-1 arranged at the rear side of the mounting plate 20.

The lifting assembly 3-2 drives the supporting plate 3-3 to move up and down, so that the grey cloth is lifted up and taken out from the machine and is transported to other tooling positions in a descending manner.

The elastically driven steering wheel assembly 50 provides transportation power on one hand, and on the other hand, can be elastically adjusted up and down to adapt to the ground in different conditions by avoiding losing power when being separated from the ground or being impacted by a ground obstacle and not being capable of advancing.

The storage battery 60 provides electric energy for the whole equipment, and the storage battery 60 is preferably arranged on the mounting plate 20 of the mounting frame 10 and is arranged far away from the side of the fixed frame 3-1 or perpendicular to the fixed frame 3-1, so that the whole carrier is more stable.

The control unit 70 is used for controlling the operation of each mechanism, controlling the lifting mechanism 30 to take out the cloth, controlling the steering wheel assembly 50 to steer, and the control unit 70 can execute each step according to the control program set for the machine to complete the picking, placing and carrying tasks.

The fixing frame 3-1 and the mounting frame 10 are provided with outer covers so as to hide internal structural components, and warning lamps can be arranged on the periphery of the mounting frame 10.

In some embodiments of the present application, the mounting plate 20 is fixed to a middle portion of the mounting frame 10.

The mounting plate 20 is used as an integral mounting and fixing main body, because some structures are required to be arranged on the upper side surface of the mounting plate 20, some structures are required to be arranged on the lower side surface, in order to reduce the thickness of the mounting frame 10, the descending distance of the lifting mechanism 30 is increased, the mounting plate 20 is arranged in the middle of the mounting frame 10, and devices such as the elastic driving steering wheel assembly 50 and the storage battery 60 are arranged up and down through the mounting plate 20, so that the space utilization rate is improved, the gravity center of the devices is reduced, and the running of the equipment is more stable. And guarantee that the internal mounting structure is hidden in the installation frame 10, the installation frame 10 sets up the upper cover for equipment is whole more pleasing to the eye.

In some embodiments of the present application, the battery 60 is disposed through the mounting plate 20.

The battery 60 is spaced from the ground by a distance not less than the distance from the ground after the steering wheel assembly 50 is elastically driven to be compressed upward, so that the battery is prevented from colliding with the ground.

According to the device, a driving structure is arranged on the mounting plate 20 in a gear driving mode, the lifting motor 3-7 and the screw rod 3-5 are adjacently arranged, and the problem that the whole device is unstable due to the fact that the lifting motor 3-7 is arranged at one end of the screw rod 3-5, the mounting height is increased and the whole gravity center is too high even at the upper end is solved; the adjacent arrangement of the lifting motor 3-7 and the screw rod 3-5 not only reduces the integral gravity center of the equipment, but also increases the lifting distance. In addition, the lifting is realized by adopting the screw rod 3-5 and the screw sleeve 3-6 in a threaded manner, the problem that a sliding rod is arranged by adopting an air cylinder can be avoided, the servo motor is more stable in a gear and thread driving manner, and the running distance of the servo motor can be controlled more accurately.

The gear disc 5-5 is fixed with the lifting plate 5-1, so that the structure is more stable compared with a mode of fixing by adopting the central shaft lever 5-3.

The adjusting motor 5-7 drives the rotating shaft bracket 5-6 to rotate, so that the movement direction of the driving wheel 5-9 is adjusted.

The lifting plate 5-1 and the springs 5-4 are respectively arranged on two sides of the mounting plate 20, so that the design that the rotating shaft bracket 5-6 penetrates through the mounting plate 20 is realized, on one hand, the space in the mounting frame 10 is fully utilized, and on the other hand, the overall setting height is reduced, so that the gravity center of the whole device is low, and the running is more stable.

The lidar 80 plays a role in navigating the travel route of the truck.

In some embodiments of the present application, the elastic driving steering wheel assembly 50 is provided with 1 group and is disposed at the center of the mounting plate 20, or the elastic driving steering wheel assembly 50 is provided with at least 2 groups and is symmetrically disposed on the mounting plate 20.

Under the condition of enough power, 1 group of elastic driving steering wheel assemblies 50 are arranged, and the driving in different directions is realized through adjusting the motors 5-7. The storage battery 60 of this structure is preferably disposed on both sides or the front side so that the overall weight distribution is more even.

At least 2 groups of elastic driving steering wheel assemblies 50 are arranged, and symmetrical distribution is needed, such as symmetrical arrangement of 2 groups, triangular distribution, four-corner distribution and the like. The two or more sets of devices can realize the function of in-situ rotation steering of the whole equipment. In this arrangement, the battery 60 is preferably disposed in the middle position.

In some embodiments of the present application, the lifting motor 3-7, the adjusting motor 5-7 and the driving motor 5-8 are provided with a speed reducer 5-81, the rotating shaft frame 5-6 is provided with a first encoder 5-51 in gear linkage with the gear disc 5-5, and the rotating shaft frame 5-6 on the opposite side of the driving motor 5-8 is provided with a second encoder 5-91 connected with the driving wheel 5-9.

The speed reducer 5-81 is provided to reduce the speed while improving the output torque and reducing the inertia of the load, and the encoder is used to precisely control the rotation angle of the adjusting motor 5-7 and the running distance of the driving motor 5-8.

In some embodiments of the present application, a photoelectric sensor 5-61 is disposed between the gear disc 5-5 and the spindle carrier 5-6.

For resetting the spindle carrier 5-6 to the initial position.

In some embodiments of the present application, a stop lever 5-11 is disposed between the lifting plate 5-1 and the mounting plate 20.

For defining the maximum extension of the driving wheels 5-9.

In some embodiments of the present application, the positioning piece 5-31 is provided with 2 pieces, 4 pieces or 1 piece, which are disposed at the lower end of the shaft 5-3.

2 positioning sheets 5-31 are arranged, and the same positioning sheet 5-31 is arranged on the shaft rods 5-3 at two end sides, so that the two shaft rods 5-3 form a whole, and the lower ends of the shaft rods 5-3 are prevented from being deviated; the 4 shaft rods 5-3 are integrally connected by adopting 1 positioning piece 5-31, so that the stress among the shaft rods 5-3 is more uniform, and the driving wheel 5-9 or the rotating shaft frame 5-6 is prevented from being damaged by deflection.

In some embodiments of the present application, the mounting plate 20 is provided with obstacle avoidance radar 2-2 at least diagonally.

And the obstacle is sensed, so that collision is avoided.

In some embodiments of the present application, the supporting plate 3-3 is provided with a supporting groove 3-31, a micro switch 3-32 is arranged in the supporting groove 3-31, the micro switch 3-32 is arranged on the lower side surface of the supporting plate 3-3, and an induction rod 3-33 of the micro switch 3-32 penetrates through and extends out of the supporting groove 3-31; limit sensors 3-10 are arranged at the upper end and the lower end of the running track of the guide rail 3-8 and the sliding block 3-9.

The micro switch 3-32 is used for sensing whether the material is placed in the bracket 3-31, and when the material is placed in the bracket 3-31, the lifting motor 3-7 calculates how much distance is needed to be lifted to take out the material; because the radii of different materials are different, the lifting mechanism 30 needs to be lifted by different distances to contact the materials, and after the materials are contacted, the lifting motor 3-7 needs to be lifted by a distance continuously to just take the materials out of the rack. The setting of this structure can realize getting to put different size materials. The bracket 3-31 is arc-shaped and corresponds to the shape of the cloth roll.

The limit sensors 3-10 play a role in limiting and protecting the operation of the supporting plate 3-3, the operation range is prevented from being exceeded, and the two limit sensors 3-10 are arranged at the lower end of the supporting plate, so that a standby effect is achieved, and the damage caused by impact to equipment below due to failure is avoided.

In some embodiments of the present application, a charging jack 1-1 and an automatic charging board 1-2 are disposed on one side of the mounting board 20.

The charging jack 1-1 is used for manually connecting the device with a power interface to realize charging. Under the condition that the electric quantity of the equipment is insufficient, the control unit 70 automatically and correspondingly moves the equipment to a charging port in butt joint with the automatic charging plate 1-2, and the anode and the cathode of the charging port are in contact with the anode copper plate and the cathode copper plate of the automatic charging plate 1-2 to be electrically connected so as to realize automatic charging operation.

In some embodiments of the present application, the bumper strips 1-3 and the warning lights 1-4 are disposed around the mounting frame 10. The anti-collision warning device is used for preventing collision, reminding a vehicle to walk or warning of faults and the like.

In some embodiments of the present application, the control unit 70 is provided with a controller 7-1, a control button 7-2 and a speaker 7-3, the controller 7-1 is disposed in the fixing frame 3-1, the control button 7-2 is disposed on an upper end surface of the fixing frame 3-1, the speaker 7-3 is disposed on two sides of the fixing frame 3-1, and the control button 7-2 and the speaker 7-3 are connected with the controller 7-1. The control unit 70 is also provided with a display screen which is arranged on the upper end face of the fixing frame 3-1.

The controller 7-1 reacts to parameter values set by each device through a set program, and achieves automatic control of the device to finish picking, placing and transporting of cloth. The speaker 7-3 emits a warning sound or a warning sound.

In some embodiments of the present application, the elastically driven steering wheel assembly 50 has a unidirectional steering range of ^± 140 deg., the overall steering angle is 280 deg..

In some embodiments of the present application, the elastically driven steering wheel assembly 50 is adjusted up and down by a distance of ±10mm.

1-10, the present application provides an automated gray fabric carrier, comprising a mounting frame 10, a mounting plate 20, a lifting mechanism 30, a universal wheel 40, an elastic driving steering wheel assembly 50, a storage battery 60 and a control unit 70, wherein the mounting plate 20 is fixed in the middle of the mounting frame 10, the lifting mechanism 30 is arranged at the rear side of the mounting plate 20, the universal wheel 40 is arranged at four corners of the lower side of the mounting plate 20, the elastic driving steering wheel assembly 50 is arranged through the mounting plate 20, and the storage battery 60 is arranged through the mounting plate 20; the lifting mechanism 30 is provided with a fixing frame 3-1, a lifting assembly 3-2 and a supporting plate 3-3, the fixing frame 3-1 is fixed on the rear side of the mounting plate 20, the lifting assembly 3-2 is vertically arranged on the fixing frame 3-1, the lifting assembly 3-2 is provided with a mounting seat 3-4, a screw rod 3-5, a threaded sleeve 3-6, a lifting motor 3-7, a guide rail 3-8 and a sliding block 3-9, the mounting seat 3-4 is fixed at the lower end of the fixing frame 3-1, the upper end and the lower end of the screw rod 3-5 are respectively connected with the fixing frame 3-1 through bearing seats, the threaded sleeve 3-6 is in threaded connection with the screw rod 3-5, the threaded sleeve 3-6 is connected with the supporting plate 3-3, the lifting motor 3-7 is fixed on the mounting seat 3-4 and in gear linkage with the screw rod 3-5, the guide rail 3-8 is arranged on the fixing frame 3-1 at two sides of the screw rod 3-5, the sliding block 3-9 is connected with the sliding block 3-9, and the sliding block 3-8 is connected with the guide rail 3-8; the elastic driving steering wheel assembly 50 is provided with 2 groups and symmetrically arranged on the mounting plate 20, the elastic driving steering wheel assembly 50 is provided with a lifting plate 5-1, a shaft sleeve 5-2, a shaft rod 5-3, a spring 5-4, a gear disc 5-5, a rotating shaft frame 5-6, an adjusting motor 5-7, a driving motor 5-8 and a driving wheel 5-9, the mounting plate 20 is provided with a mounting opening 2-1, the shaft sleeve 5-2 is arranged around the mounting opening 2-1, the shaft rod 5-3 penetrates through the shaft sleeve 5-2 and the mounting plate 20, the upper end of the shaft rod 5-3 is connected with the lifting plate 5-1, a limiting rod 5-11 is arranged between the lifting plate 5-1 and the mounting plate 20, the lower end of the shaft rod 5-3 is provided with a locating piece 5-31, the locating piece 5-6 is arranged on the front side and the rear side of the shaft rod 5-3 and is respectively connected with the locating piece 5-31, the spring 5-4 is sleeved on the 5-3 between the locating piece 5-31 and the mounting plate 20, the gear disc 5-3 is fixed on the side of the lifting plate 5-1 and the rotating shaft rod 5-3 is connected with the rotating shaft frame 5-6, the rotating shaft frame 5-9 is connected with the rotating shaft frame 5-8 and the driving wheel 5-9, the rotating shaft frame is fixed on the rotating shaft frame 5-6 and the rotating shaft rod 5-6 is connected with the rotating shaft frame 5-9, the adjusting motor 5-7 and the driving motor 5-8 are provided with a speed reducer 5-81, the rotating shaft frame 5-6 is provided with a first encoder 5-51 which is in gear linkage with the gear disc 5-5, and the rotating shaft frame 5-6 on the opposite side of the driving motor 5-8 is provided with a second encoder 5-91 which is connected with the driving wheel 5-9; the laser radar 80 is arranged at the upper end of the fixing frame 3-1, the obstacle avoidance radar 2-2 is arranged at least at the diagonal position of the mounting plate 20, the photoelectric sensor 5-61 is arranged between the gear disc 5-5 and the rotating shaft frame 5-6, the supporting plate 3-3 is provided with a supporting groove 3-31, the supporting groove 3-31 is internally provided with a micro switch 3-32, the micro switch 3-32 is arranged on the lower side surface of the supporting plate 3-3, the induction rod 3-33 of the micro switch 3-32 penetrates through the supporting groove 3-31, one side of the mounting plate 20 is provided with a charging jack 1-1 and an automatic charging plate 1-2, and the periphery of the mounting frame 10 is provided with an anti-collision strip 1-3 and a warning lamp 1-4; the control unit 70 is provided with a controller 7-1, a control button 7-2 and a loudspeaker 7-3, wherein the controller 7-1 is arranged in the fixed frame 3-1, the control button 7-2 is arranged on the upper end face of the fixed frame 3-1, the loudspeaker 7-3 is arranged on two sides of the fixed frame 3-1, and the lifting motor 3-7, the adjusting motor 5-7, the driving motor 5-8, the laser radar 80, the first encoder 5-51, the second encoder 5-91, the obstacle avoidance radar 2-2, the photoelectric sensor 5-61, the micro switch 3-32, the charging jack 1-1, the automatic charging plate 1-2, the control button 7-2, the loudspeaker 7-3 and the storage battery 60 are connected with the controller 7-1.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the embodiments, and are intended to be included within the scope of the claims and description. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present application is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.

Claims (10)

1. The automatic grey cloth carrier is characterized by comprising a mounting frame, a mounting plate, a lifting mechanism, universal wheels, an elastic driving steering wheel assembly, a storage battery and a control unit, wherein the mounting plate is fixed in the mounting frame; the lifting mechanism is provided with a fixing frame, a lifting assembly and a supporting plate, the fixing frame is fixed on the rear side of the mounting plate, the lifting assembly is vertically arranged on the fixing frame, the lifting assembly is provided with a mounting seat, a screw rod, a threaded sleeve, a lifting motor, a guide rail and a sliding block, the mounting seat is fixed at the lower end of the fixing frame, the upper end and the lower end of the screw rod are respectively connected with the fixing frame through bearing seats, the threaded sleeve is in threaded connection with the screw rod, the threaded sleeve is connected with the supporting plate, the lifting motor is fixed on the mounting seat and in gear linkage with the screw rod, the guide rail is arranged on the fixing frames on the two sides of the screw rod, the sliding block is connected with the supporting plate, and the sliding block is connected with the guide rail; the elastic driving steering wheel assembly is provided with a lifting plate, a shaft sleeve, a shaft rod, a spring, a gear disc, a rotating shaft frame, an adjusting motor, a driving motor and a driving wheel, wherein the mounting plate is provided with a mounting opening, the shaft sleeve is arranged around the mounting opening, the shaft rod penetrates through the shaft sleeve and the mounting plate, the upper end of the shaft rod is connected with the lifting plate, a positioning piece is arranged at the lower end of the shaft rod, the spring is sleeved on the shaft rod between the positioning piece and the mounting plate, the gear disc is fixed on the lower side surface of the lifting plate, the rotating shaft frame is rotationally connected with the gear disc, the adjusting motor is fixed on the rotating shaft frame and is in gear connection with the gear disc, the driving wheel is rotationally arranged at the lower end of the rotating shaft frame, and the driving motor is fixed on the rotating shaft frame at one side of the driving wheel and is in linkage with the driving wheel; the laser radar is arranged at the upper end of the fixing frame; the navigation function is achieved on the walking route of the carrier; and the lifting motor, the adjusting motor, the driving motor, the laser radar and the storage battery are connected with the control unit.

2. The automated gray fabric carrier of claim 1, wherein the mounting plate is secured to a central portion of the mounting frame and the battery is disposed through the mounting plate.

3. The automated gray fabric carrier of claim 1, wherein the elastic drive steering wheel assembly is provided with 1 group and is arranged in the center of the mounting plate, or the elastic drive steering wheel assembly is provided with at least 2 groups and is symmetrically arranged on the mounting plate.

4. The automatic grey cloth carrier according to claim 1, wherein the lifting motor, the adjusting motor and the driving motor are provided with speed reducers, the first encoder is arranged on the rotating shaft frame and is in gear linkage with the gear disc, the second encoder is arranged on the rotating shaft frame on the opposite side of the driving motor and is connected with the driving wheel, and a photoelectric sensor is arranged between the gear disc and the rotating shaft frame.

5. The automated gray fabric carrier of claim 1, wherein a stop lever is provided between the lifting plate and the mounting plate, and the positioning plate is provided with 2, 4 or 1 pieces arranged at the lower end of the shaft.

6. The automated gray fabric carrier of claim 1, wherein the mounting plate is provided with obstacle avoidance radar at least diagonally.

7. The automatic grey cloth carrier according to claim 1, wherein the supporting plate is provided with a bracket, a micro switch is arranged in the bracket, the micro switch is arranged on the lower side surface of the supporting plate, and an induction rod of the micro switch penetrates through the bracket; limit sensors are arranged at the upper end and the lower end of the running track of the guide rail and the sliding block.

8. The automated gray fabric carrier of claim 1, wherein a charging jack and an automatic charging plate are provided on one side of the mounting plate.

9. The automated gray fabric carrier of claim 6, wherein the mounting frame is provided with bumper strips and warning lights around.

10. The automated gray fabric carrier of claim 1, wherein the control unit is provided with a controller, a control button and a speaker, the controller is arranged in the fixing frame, the control button is arranged on the upper end surface of the fixing frame, the speaker is arranged on two sides of the fixing frame, and the control button and the speaker are connected with the controller. The control unit is also provided with a display screen, and the display screen is arranged on the upper end surface of the fixing frame.