CN118832609A - Material handling robot for textile workshop and application method thereof - Google Patents

Abstract

The present invention discloses a material handling robot for a textile workshop and a method for using the same, and relates to the field of textile handling robots. The material handling robot for a textile workshop and the method for using the same comprise a walking unit and a clamping unit installed on the side of the walking unit, wherein the walking unit comprises a moving seat, a walking wheel and a steering wheel, and a laser radar is installed on the top of the moving seat. The material handling robot for a textile workshop and the method for using the same, the servo motor is started, so that the memory alloy plate is against the side of the sliver barrel, and then the booster cylinder inflates the inside of the multi-axis clamping cylinder, so that the memory alloy plate and the anti-skid rubber plate are bent and fitted to the outer wall of the sliver barrel, the booster cylinder inflates the lifting cylinder, so that the sliver barrel rises, and at the same time, the wedge-shaped support plate is inserted into the bottom support of the sliver barrel, so as to ensure that the sliver barrel will not slip during the handling process from two aspects: increasing the contact surface to enhance the static friction and providing additional support force for the bottom support.

Description

A material handling robot for a textile workshop and a method of using the same

Technical Field

The invention relates to the technical field of textile handling robots, and in particular to a material handling robot for a textile workshop and a use method thereof.

Background Art

In modern textile workshops, some simple and laborious tasks are usually completed by robots. Among them, the transportation of sliver barrels is usually carried out by special intelligent handling robots. Such handling robots mainly include a mobile base and a mechanical arm installed on the mobile base. It uses lasers and industrial cameras to achieve detection and positioning, and then uses the mechanical arm to hold the sliver barrel, and then lifts it for transportation.

In actual use, since the mechanical gripper is in a suspended state, if the weight of the internal material of the sliver barrel is large, once it encounters bumps or emergency braking during the handling process, the entire intelligent robot will overturn. At the same time, due to the influence of material properties, long-term handling will cause the mechanical gripper to sag and deform. The existing patent CN217801666U introduces a handling robot suitable for a small space. The handling robot disclosed in the patent can effectively prevent such a situation by arranging support wheels on both sides.

However, in actual application research, it was found that the handling robot in the patent holds the sliver barrel in the arc-shaped give way groove for clamping and fixing by two clamping devices. However, when dealing with sliver barrels of different sizes and non-standard round shapes, there are fewer holding contact points and it cannot be clamped effectively. During the movement, the sliver barrel will slide down due to gravity and even directly contact the ground, resulting in the inability to complete the handling operation. For this purpose, a material handling robot for a textile workshop and a method of using the same have been provided to solve the above-mentioned problems.

Summary of the invention

In view of the deficiencies in the prior art, the present invention provides a material handling robot for a textile workshop and a method of using the same, which solves the problem that the handling robot in the patent publication CN217801666U has fewer contact points when handling sliver barrels of different sizes and non-standard round shapes, and cannot effectively clamp the sliver barrels. During the movement, the sliver barrels may slide down due to gravity or even directly contact the ground, resulting in the inability to complete the handling operation.

To achieve the above objectives, the present invention is implemented through the following technical solutions: A material handling robot for a textile workshop, comprising a walking unit and a clamping unit installed on the side of the walking unit, the walking unit comprising a moving seat and walking wheels and steering wheels installed at the bottom of the moving seat, and a laser radar is installed on the top of the moving seat;

The clamping unit comprises an anti-falling sliding base and an adaptive clamping lifting member vertically slidably arranged on the top of the anti-falling sliding base;

The anti-falling sliding base includes a sliding carrier, an anti-falling stopper and a lifting cylinder. The sliding carrier is slidably arranged on the outer surface of the moving seat, and a bidirectional screw rod for driving the sliding carrier to move is rotatably arranged inside the moving seat. The anti-falling stopper is installed on one side of the bottom end of the sliding carrier, and the lifting cylinder is fixedly installed on the top of the sliding carrier, and the lifting cylinder is transmission-connected to the anti-falling stopper.

The adaptive clamping lifting member includes a lifting seat fixedly installed on the top of the lifting cylinder, a clamping mechanism is installed inside the lifting seat, and the clamping mechanism includes a steel frame slidably arranged inside the lifting seat, a memory alloy plate is fixedly connected to the front end of the steel frame, a multi-axis clamping cylinder is arranged on the inner side of the memory alloy plate, and multiple output shafts of the multi-axis clamping cylinder are all movably hinged on the back side of the memory alloy plate.

Preferably, the clamping mechanism also includes an anti-slip rubber plate, an articulated seat and a connecting block, the anti-slip rubber plate is fixedly connected to the outer surface of the memory alloy plate, the articulated seat is fixedly welded to the inner side of the memory alloy plate, the connecting block is fixedly installed at the output end of the multi-axis clamping cylinder, and the connecting block is rotatably connected to the inside of the articulated seat.

Preferably, a device shell is fixedly installed on the back of the lifting seat, the multi-axis clamping cylinder is fixedly installed inside the device shell, a support arm is fixedly installed between the inner middle part of the memory alloy plate and the device shell, a pressure sensor is fixedly installed inside the support arm, limiting slide grooves are provided on both sides of the inner wall of the lifting seat, and a limiting slide bar is integrally formed on the side of the steel frame, and the limiting slide bar is slidably connected in the limiting slide groove.

Preferably, the anti-fall stopper includes a wedge-shaped support plate, a transmission rack, a connecting arm, a driving rack, a driving gear, a transmission shaft and a transmission gear. The wedge-shaped support plate is movably inserted in the inner bottom of the sliding carrier, the transmission rack is fixedly connected to the back side of the wedge-shaped support plate, the connecting arm is fixedly connected to the top of the output shaft of the two groups of lifting cylinders, the driving rack is fixedly connected to the bottom of the connecting arm, the transmission shaft is rotatably connected to the inside of the sliding carrier, the driving gear and the transmission gear are both fixedly sleeved on the outer surface of the transmission shaft, the driving rack is meshed with the driving gear, and the transmission gear is meshed with the transmission rack.

Preferably, a column is integrally formed on the top of one end of the sliding carrier, a slot is opened inside the column, an insert block is fixedly connected to the end of the lifting seat, the insert block is movably inserted in the slot, a sliding connector is fixedly welded on the side of the column, and the sliding connector is threadedly connected to the outer surface of the bidirectional screw rod.

Preferably, a servo motor is fixedly mounted on one end of the movable seat, the output end of the servo motor is fixedly connected to one end of the bidirectional screw rod, a guide groove is provided on the outer wall of the movable seat, the sliding connection is slidably connected in the guide groove, a steering motor is fixedly mounted on the inner bottom of the movable seat, and the output end of the steering motor is fixedly mounted to the steering wheel.

Preferably, a vertical groove is provided on the side of the plug block, and an air intake pipe is fixedly installed on the outer surfaces of the multi-axis clamping cylinder and the lifting cylinder, and the air intake pipe passes through the vertical groove and the sliding connection. A boosting cylinder is fixedly installed on the outer surface of the movable seat, and the output end of the boosting cylinder is connected to a four-way solenoid valve, and the four-way solenoid valve is fixedly installed inside the movable seat, and the air intake pipe is connected to the four-way solenoid valve.

Preferably, a mounting plate is fixedly mounted on the top of the lifting cylinder, and the mounting plate is fixedly mounted on the bottom of the lifting seat by bolts, and a supporting roller is rotatably connected to the outer side of the sliding carrier.

Preferably, a protective cover is fixedly installed on the top of the movable seat, an electric rotating bracket is fixedly installed on the top of the protective cover, and the laser radar is installed on the top of the electric rotating bracket.

Preferably, a method for using a material handling robot for a textile workshop comprises the following steps:

S1, positioning, the travel wheels and steering wheels in the travel unit are positioned and moved using laser radar so that the sliver barrel is in the middle of the clamping unit;

S2, clamping, the servo motor is started, so that the anti-skid rubber plate is against the side of the sliver barrel, and the booster cylinder inflates the multi-axis clamping cylinder so that the memory alloy plate and the anti-skid rubber plate are adapted to the shape and size of the sliver barrel for clamping;

S3, lifting, the booster cylinder increases the pressure inside the jacking cylinder, and the output end of the jacking cylinder moves upward to lift the sliver barrel upward. At the same time, the jacking cylinder drives the driving rack to move upward through the connecting arm, so that the wedge-shaped support plate is inserted into the bottom of the sliver barrel for auxiliary support;

S4, transportation, the walking unit uses laser radar for positioning, the walking unit pulls the clamping unit to move to the target position, the output shaft of the lifting cylinder descends, the wedge-shaped support plate shrinks to both sides, the output shaft of the multi-axis clamping cylinder shrinks, and the servo motor reverses, so that the sliver barrel falls to the ground, and the two sets of clamping units are opened. At this time, the walking unit pulls the clamping unit away from the outer surface of the sliver barrel to complete the transportation.

The present invention discloses a material handling robot for a textile workshop and a method for using the same, which has the following beneficial effects:

1. The material handling robot used in the textile workshop and the method of using the same, the servo motor is started, driving the bidirectional screw to rotate, so that the sliding carrier moves toward the middle, and the memory alloy plate is against the side of the sliver barrel. At this time, the clamping force is determined according to the value of the pressure sensor. When the clamping pressure displayed by the pressure sensor reaches the preset value, the four-way solenoid valve is started, and the booster cylinder inflates the multi-axis clamping cylinder. At this time, the output shaft of the multi-axis clamping cylinder extends outward, and the memory alloy plate is bent through a plurality of articulated seats, so that the anti-slip rubber plate can adapt to the shape and size of the sliver barrel for fitting and clamping, and the static friction is increased by increasing the contact area, and the anti-slip effect is better.

2. The material handling robot used in the textile workshop and the method of using the same, the booster cylinder increases the pressure inside the lifting cylinders on both sides through the air intake pipe. At this time, the output end of the lifting cylinder moves upward, so that the lifting seat clamps the sliver barrel and lifts it upward, so that the sliver barrel is suspended in the air. At the same time, the driving rack is driven upward by the connecting arm, so that the wedge-shaped support plate is inserted into the bottom of the sliver barrel, thereby providing additional support for the sliver barrel from below, avoiding the situation where the sliver barrel slides down during movement due to excessive load or too smooth outer wall of the sliver barrel.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a schematic diagram of the overall top structure of the present invention;

FIG2 is a schematic diagram of the overall bottom structure of the present invention;

FIG3 is an exploded view of the outer surface structure of the walking unit and the clamping unit of the present invention;

FIG4 is an exploded view of the internal structure of the walking unit of the present invention;

FIG5 is a schematic diagram of the outer surface structure of the supporting unit of the present invention;

FIG6 is a schematic diagram of the outer surface structure of the lifting seat of the present invention;

FIG7 is a cross-sectional view of the internal structure of the lifting seat of the present invention;

FIG8 is a schematic diagram of the outer surface structure of the sliding carrier of the present invention;

FIG. 9 is a cross-sectional view of the internal structure of the sliding carrier of the present invention.

In the figure: 1. Travel unit; 11. Moving seat; 12. Steering wheel; 13. Travel wheel; 14. Boosting cylinder; 15. Servo motor; 16. Laser radar; 17. Four-way solenoid valve; 18. Steering motor; 19. Guide slide; 110. Protective cover; 111. Electric rotating bracket; 112. Bidirectional screw rod; 2. Clamping unit; 21. Anti-fall sliding base; 211. Sliding carrier; 212. Anti-fall stopper; 2121. Wedge-shaped support plate; 2122. Transmission rack; 2123. Connecting arm; 2124. Driving rack; 2125. Driving gear; 2126. Transmission shaft; 2127. Transmission Gear; 213, column; 214, slot; 215, sliding connector; 216, lifting cylinder; 217, mounting plate; 218, support roller; 22, adaptive clamping lifting member; 221, lifting seat; 222, clamping mechanism; 2221, steel frame; 2222, memory alloy plate; 2223, anti-skid rubber plate; 2224, multi-axis clamping cylinder; 2225, air intake pipe; 2226, limit slide; 2227, articulated seat; 2228, connecting block; 223, equipment shell; 224, plug block; 225, vertical slot; 226, limit slide; 227, support arm; 228, pressure sensor.

DETAILED DESCRIPTION

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

The embodiment of the present application provides a material handling robot for a textile workshop and a method of using the same, thereby solving the problem that the handling robot in the patent publication CN217801666U has fewer contact points when handling tampon barrels of different sizes and non-standard round shapes, cannot effectively clamp the tampon barrels, and the tampon barrels may slide down due to gravity during movement or even come into direct contact with the ground, making it impossible to complete the handling operation.

In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

The embodiment of the invention discloses a material handling robot for a textile workshop and a use method thereof.

As shown in Figures 1-9, it includes a walking unit 1 and a clamping unit 2 installed on the side of the walking unit 1. The walking unit 1 includes a moving base 11 and a walking wheel 13 and a steering wheel 12 installed at the bottom of the moving base 11. A laser radar 16 is installed on the top of the moving base 11.

The clamping unit 2 includes an anti-falling sliding base 21 and an adaptive clamping lifting member 22 vertically slidably arranged on the top of the anti-falling sliding base 21;

The anti-falling sliding base 21 includes a sliding carrier 211, an anti-falling stopper 212 and a lifting cylinder 216. The sliding carrier 211 is slidably arranged on the outer surface of the moving base 11, and the moving base 11 is internally rotatably provided with a bidirectional screw rod 112 for driving the sliding carrier 211 to move. The anti-falling stopper 212 is installed on one side of the bottom end of the sliding carrier 211. The lifting cylinder 216 is fixedly installed on the top of the sliding carrier 211, and the lifting cylinder 216 is transmission-connected to the anti-falling stopper 212.

The adaptive clamping lifting member 22 includes a lifting seat 221 fixedly installed on the top of the lifting cylinder 216, and a clamping mechanism 222 is installed inside the lifting seat 221. The clamping mechanism 222 includes a steel frame 2221 slidably set inside the lifting seat 221, and a memory alloy plate 2222 is fixedly connected to the front end of the steel frame 2221. A multi-axis clamping cylinder 2224 is arranged on the inner side of the memory alloy plate 2222, and multiple output shafts of the multi-axis clamping cylinder 2224 are all movably hinged on the back side of the memory alloy plate 2222.

The clamping mechanism 222 also includes an anti-slip rubber plate 2223, an articulated seat 2227 and a connecting block 2228. The anti-slip rubber plate 2223 is fixedly connected to the outer surface of the memory alloy plate 2222, the articulated seat 2227 is fixedly welded to the inner side of the memory alloy plate 2222, the connecting block 2228 is fixedly installed at the output end of the multi-axis clamping cylinder 2224, and the connecting block 2228 is rotatably connected to the inside of the articulated seat 2227.

A device shell 223 is fixedly installed on the back of the lifting seat 221, and a multi-axis clamping cylinder 2224 is fixedly installed inside the device shell 223. A support arm 227 is fixedly installed between the inner middle part of the memory alloy plate 2222 and the device shell 223. A pressure sensor 228 is fixedly installed inside the support arm 227. Limiting grooves 226 are provided on both sides of the inner wall of the lifting seat 221, and a limiting slide bar 2226 is integrally formed on the side of the steel frame 2221, and the limiting slide bar 2226 is slidably connected in the limiting slide groove 226.

The anti-fall stopper 212 includes a wedge-shaped support plate 2121, a transmission rack 2122, a connecting arm 2123, a driving rack 2124, a driving gear 2125, a transmission shaft 2126 and a transmission gear 2127. The wedge-shaped support plate 2121 is movably inserted into the inner bottom of the sliding carrier 211, the transmission rack 2122 is fixedly connected to the back side of the wedge-shaped support plate 2121, the connecting arm 2123 is fixedly connected to the top of the output shaft of the two groups of lifting cylinders 216, the driving rack 2124 is fixedly connected to the bottom of the connecting arm 2123, the transmission shaft 2126 is rotatably connected to the inside of the sliding carrier 211, the driving gear 2125 and the transmission gear 2127 are both fixedly sleeved on the outer surface of the transmission shaft 2126, the driving rack 2124 is meshed with the driving gear 2125, and the transmission gear 2127 is meshed with the transmission rack 2122.

A column 213 is integrally formed on the top of one end of the sliding carrier 211, and a slot 214 is opened inside the column 213. An insert block 224 is fixedly connected to the end of the lifting seat 221, and the insert block 224 is movably inserted in the slot 214. A sliding connector 215 is fixedly welded on the side of the column 213, and the sliding connector 215 is threadedly connected to the outer surface of the bidirectional screw rod 112.

A servo motor 15 is fixedly installed at one end of the moving seat 11, and the output end of the servo motor 15 is fixedly connected to one end of the bidirectional screw rod 112. A guide groove 19 is opened on the outer wall of the moving seat 11, and the sliding connection member 215 is slidably connected in the guide groove 19. A steering motor 18 is fixedly installed on the inner bottom of the moving seat 11, and the output end of the steering motor 18 is fixedly installed on the steering wheel 12.

A vertical groove 225 is provided on the side of the plug block 224, and an air intake pipe 2225 is fixedly installed on the outer surfaces of the multi-axis clamping cylinder 2224 and the lifting cylinder 216. The air intake pipe 2225 passes through the vertical groove 225 and the sliding connector 215. A boost cylinder 14 is fixedly installed on the outer surface of the moving seat 11, and the output end of the boost cylinder 14 is connected to a four-way solenoid valve 17. The four-way solenoid valve 17 is fixedly installed inside the moving seat 11, and the air intake pipe 2225 is connected to the four-way solenoid valve 17.

A mounting plate 217 is fixedly mounted on the top of the lifting cylinder 216 , and the mounting plate 217 is fixedly mounted on the bottom of the lifting seat 221 by bolts. A supporting roller 218 is rotatably connected to the outer side of the sliding carrier 211 .

A protective cover 110 is fixedly installed on the top of the moving seat 11 , an electric rotating bracket 111 is fixedly installed on the top of the protective cover 110 , and the laser radar 16 is installed on the top of the electric rotating bracket 111 .

Working principle: When the device is in use, the walking wheel 13 and the steering wheel 12 in the walking unit 1 are positioned and moved using the laser radar 16, so that the walking unit 1 drives the clamping unit 2 to move to a position facing the sliver barrel, and then moves toward one end of the sliver barrel, so that the sliver barrel is in the middle of the clamping unit 2, and the whole presents the state shown in Figure 1;

At this time, the servo motor 15 is first started, driving the bidirectional screw rod 112 to rotate, so that the sliding carriers 211 on both sides move toward the middle, and finally the memory alloy plates 2222 on the opposite sides of the two sets of sliding carriers 211 are against the side of the sliver barrel. At this time, the clamping force is determined according to the value of the pressure sensor 228. When the clamping pressure displayed by the pressure sensor 228 reaches the preset value, the four-way solenoid valve 17 is started, so that the boost cylinder 14 is connected to the multi-axis clamping cylinders 222 on both sides through the two sets of air intake pipes 2225 above. 4 is connected, and then the multi-axis clamping cylinder 2224 is inflated through the booster cylinder 14. At this time, the output shaft of the multi-axis clamping cylinder 2224 extends outward, and the memory alloy plate 2222 is driven to bend through the multiple hinge seats 2227, so that the memory alloy plate 2222 and the sliver barrel are squeezed at multiple points through the multiple hinge seats 2227, so that the anti-skid rubber plate 2223 can adapt to the shape and size of the sliver barrel for clamping, and the static friction is improved by increasing the contact area, and the anti-skid effect is better;

Then the four-way solenoid valve 17 closes the two groups of air inlet pipes 2225 above, so that the two groups of multi-axis clamping cylinders 2224 maintain internal pressure, and then the other two interfaces of the four-way solenoid valve 17 are opened, so that the boost cylinder 14 increases pressure to the inside of the lifting cylinders 216 on both sides through the air inlet pipes 2225. At this time, the output end of the lifting cylinder 216 moves upward, pushing the lifting seat 221 to slide upward along the slot 214, so that the clamping mechanisms 222 on both sides clamp the sliver barrel and then lift it upward. At this time, the sliver barrel is suspended in the air, and the clamping unit 2 uses the support rollers 218 on both sides for mobile support to avoid tipping due to bumps and emergency braking during movement;

As the output end of the lifting cylinder 216 continues to rise, the driving rack 2124 is driven to move upward through the connecting arm 2123, and the driving rack 2124 drives the driving gear 2125 to rotate. At this time, the transmission shaft 2126 synchronously drives the transmission gear 2127 to rotate, so that the transmission rack 2122 slides outward, so that the wedge-shaped support plate 2121 is inserted to the bottom of the sliver barrel, thereby providing additional support for the sliver barrel from below, and preventing the sliver barrel from sliding down during movement due to excessive load or too smooth outer wall of the sliver barrel;

At this time, the tampons are clamped and lifted, and then the walking wheels 13 and the steering wheels 12 are positioned using the laser radar 16, so that the walking unit 1 pulls the clamping unit 2 to move to the target position. At this time, the output shaft of the lifting cylinder 216 drops, causing the clamping mechanism 222 to move downward, and at the same time, the wedge-shaped support plate 2121 shrinks from the bottom of the tampons to both sides to the inside of the sliding carrier 211, and finally makes the bottom end of the tampons contact the ground. At this time, the output shaft of the multi-axis clamping cylinder 2224 shrinks, causing the memory alloy plate 2222 to recover its deformation, and then the servo motor 15 reverses, causing the two groups of clamping units 2 to open. At this time, the walking unit 1 pulls the clamping unit 2 away from the outer surface of the tampons to carry the next group of tampons.

The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims (10)

1. The material handling robot for the textile workshop comprises a walking unit (1) and a clamping unit (2) arranged on the side surface of the walking unit (1), and is characterized in that the walking unit (1) comprises a movable seat (11), a walking wheel (13) and a steering wheel (12) which are arranged at the bottom of the movable seat (11), and a laser radar (16) is arranged at the top of the movable seat (11);

The clamping unit (2) comprises an anti-falling sliding base (21) and an adaptive clamping lifting piece (22) vertically arranged at the top of the anti-falling sliding base (21) in a sliding manner;

The anti-falling sliding base (21) comprises a sliding carrying seat (211), an anti-falling blocking piece (212) and a jacking air cylinder (216), wherein the sliding carrying seat (211) is arranged on the outer surface of the moving seat (11) in a sliding mode, a bidirectional screw rod (112) used for driving the sliding carrying seat (211) to move is arranged in the moving seat (11) in a rotating mode, the anti-falling blocking piece (212) is arranged on one side of the bottom end of the sliding carrying seat (211), the jacking air cylinder (216) is fixedly arranged at the top of the sliding carrying seat (211), and the jacking air cylinder (216) is in transmission connection with the anti-falling blocking piece (212);

The self-adaptive clamping lifting piece (22) comprises a lifting seat (221) fixedly installed at the top end of a lifting cylinder (216), a clamping mechanism (222) is installed in the lifting seat (221), the clamping mechanism (222) comprises a steel frame (2221) which is arranged inside the lifting seat (221) in a sliding mode, the front end of the steel frame (2221) is fixedly connected with a memory alloy plate (2222), a multi-shaft clamping cylinder (2224) is arranged on the inner side of the memory alloy plate (2222), and a plurality of output shafts of the multi-shaft clamping cylinder (2224) are movably hinged to the back face of the memory alloy plate (2222).

2. A materials handling robot for a textile mill as set forth in claim 1, wherein: clamping mechanism (222) still includes anti-skidding rubber slab (2223), articulated seat (2227) and connecting block (2228), anti-skidding rubber slab (2223) fixed connection is at the surface of memory alloy board (2222), articulated seat (2227) fixed welding is in the inboard of memory alloy board (2222), connecting block (2228) fixed mounting is at the output of multiaxis centre gripping cylinder (2224), and connecting block (2228) rotate the inside of connecting at articulated seat (2227).

3. A materials handling robot for a textile mill as set forth in claim 2, wherein: the back fixed mounting of lift seat (221) has equipment shell (223), multiaxis centre gripping cylinder (2224) fixed mounting is in the inside of equipment shell (223), fixed mounting has support arm (227) between the interior survey middle part of memory alloy board (2222) and equipment shell (223), the inside fixed mounting of support arm (227) has pressure sensor (228), spacing spout (226) have all been seted up to the inner wall both sides of lift seat (221), the side integrated into one piece of steelframe (2221) has spacing draw runner (2226), spacing draw runner (2226) sliding connection is in spacing spout (226).

4. A materials handling robot for a textile mill as set forth in claim 1, wherein: the anti-falling baffle piece (212) comprises a wedge-shaped supporting plate (2121), a transmission rack (2122), a connecting arm (2123), a driving rack (2124), a driving gear (2125), a transmission shaft (2126) and a transmission gear (2127), wherein the wedge-shaped supporting plate (2121) is movably inserted into the inner bottom of the sliding carrying seat (211), the driving rack (2122) is fixedly connected to the back of the wedge-shaped supporting plate (2121), the connecting arm (2123) is fixedly connected to the top ends of output shafts of two groups of jacking cylinders (216), the driving rack (2124) is fixedly connected to the bottom of the connecting arm (2123), the transmission shaft (2126) is rotatably connected to the inside of the sliding carrying seat (211), the driving gear (2125) and the transmission gear (2127) are fixedly sleeved on the outer surface of the transmission shaft (2126), the driving rack (2124) is meshed with the driving gear (2125), and the transmission gear (2127) is meshed with the driving rack (2122).

5. A materials handling robot for a textile mill as set forth in claim 2, wherein: the utility model discloses a bidirectional screw rod (112), including slip carrier (211), stand (213) have one end top integrated into one piece, slot (214) have been seted up to the inside of stand (213), the tip fixedly connected with inserted block (224) of lift seat (221), inserted block (224) activity is pegged graft in slot (214), the fixed welding of side of stand (213) has sliding connection piece (215), sliding connection piece (215) threaded connection is at the surface of bidirectional screw rod (112).

6. A materials handling robot for a textile mill as set forth in claim 5, wherein: one end fixed mounting who removes seat (11) has servo motor (15), the output and the two-way lead screw (112) one end fixed connection of servo motor (15), guide chute (19) have been seted up to the outer wall of removing seat (11), sliding connection spare (215) sliding connection are in guide chute (19), the interior bottom fixed mounting who removes seat (11) has steering motor (18), the output and the directive wheel (12) fixed mounting of steering motor (18).

7. A materials handling robot for a textile mill as set forth in claim 6, wherein: vertical groove (225) has been seted up to the side of inserted block (224), the surface of multiaxis centre gripping cylinder (2224) and jacking cylinder (216) is all fixed mounting has intake pipe (2225), intake pipe (2225) run through vertical groove (225) and sliding connection spare (215), the surface fixed mounting who removes seat (11) has boost cylinder (14), the output of boost cylinder (14) is connected with cross solenoid valve (17), cross solenoid valve (17) fixed mounting is in the inside that removes seat (11), intake pipe (2225) are connected with cross solenoid valve (17).

8. A materials handling robot for a textile mill as set forth in claim 4, wherein: the top of jacking cylinder (216) fixed mounting has mounting panel (217), mounting panel (217) pass through the bottom of bolt fixed mounting in lifting seat (221), the outside rotation of sliding carrier seat (211) is connected with supporting roller (218).

9. A materials handling robot for a textile mill as set forth in claim 1, wherein: the top of remove seat (11) fixed mounting has protective cover (110), the top fixed mounting of protective cover (110) has electronic runing rest (111), laser radar (16) are installed at the top of electronic runing rest (111).

10. A method of using a materials handling robot for a textile mill according to any one of claims 1 to 9, comprising the steps of:

S1, positioning, namely positioning and moving a travelling wheel (13) and a steering wheel (12) in a travelling unit (1) by using a laser radar (16) to enable a sliver can to be positioned in the middle of a clamping unit (2);

s2, clamping, namely starting a servo motor (15) to enable an anti-skid rubber plate (2223) to prop against the side surface of the sliver can, and enabling a pressurizing cylinder (14) to charge air into a multi-shaft clamping cylinder (2224) to enable a memory alloy plate (2222) to be attached and clamped with the anti-skid rubber plate (2223) in a manner of adapting to the appearance and the size of the sliver can;

S3, lifting, wherein the pressurizing cylinder (14) pressurizes the inside of the lifting cylinder (216), the output end of the lifting cylinder (216) moves upwards to lift the sliver can upwards, and meanwhile, the lifting cylinder (216) drives the driving rack (2124) to move upwards through the connecting arm (2123) so that the wedge-shaped supporting plate (2121) is inserted into the bottom of the sliver can for auxiliary support;

S4, carrying, wherein the walking unit (1) is positioned by using the laser radar (16), the walking unit (1) pulls the clamping unit (2) to move to the target position, the output shaft of the jacking cylinder (216) descends, the wedge-shaped supporting plate (2121) contracts towards two sides, the output shaft of the multi-shaft clamping cylinder (2224) contracts, the servo motor (15) reverses, the cotton sliver barrel falls to the ground, the two groups of clamping units (2) are spread, and at the moment, the walking unit (1) pulls the clamping unit (2) to move away from the outer surface of the cotton sliver barrel, so that carrying is completed.