CN221070822U - Cloth conveyer - Google Patents

Abstract

The utility model provides a cloth conveying device, wherein a mounting plate is fixed in a mounting frame, universal wheels are arranged at four corners of the mounting plate, an elastic driving steering wheel assembly penetrates through the mounting plate, a storage battery is fixed on the mounting plate, a fixing frame of a lifting mechanism is arranged at the rear side of the mounting plate, a lifting assembly is arranged on the fixing frame, a supporting plate is connected with the lifting assembly, and the lifting assembly, the elastic driving steering wheel assembly and the storage battery are connected with a control unit. According to the product, on the basis of achieving cloth picking and placing, rapid transfer of the cloth in different tool positions in a complex workshop environment is achieved, and walking on the ground with uneven height or obstacles is achieved. 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 gravity center of the whole device is lowered, the movement is more stable, the overall structure of the device is more compact, the materials are reduced, and the manufacturing cost is reduced.

Description

Cloth conveyer

Technical Field

The utility model belongs to the technical field of transportation equipment, and particularly relates to a cloth transportation device.

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, because a plurality of looms are arranged in a production workshop, the number of looms reaches tens, 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.

Disclosure of utility model

The utility model provides a cloth conveying device which can effectively solve the problems.

The utility model is realized in the following way:

The cloth conveying device 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 supporting plate is connected with the lifting assembly, and the lifting assembly, the elastic driving steering wheel assembly and the storage battery are connected with the control unit.

As a further improvement, the mounting plate is fixed in the middle of the mounting frame.

As a further development, the accumulator is arranged through the mounting plate.

As a further improvement, the lifting assembly is provided with a mounting seat, a screw rod, a threaded sleeve, a lifting motor, guide rails 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 rails are arranged on the fixing frames at two sides of the screw rod, the sliding block is connected with the supporting plate, and the sliding block is connected with the guide rails.

As a further improvement, the elastic drive 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 an installation opening is formed in the mounting plate, the shaft sleeve is arranged on the periphery of the installation 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 rotationally connected 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 on one side of the driving wheel and is in linkage with the driving wheel.

As a further improvement, 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 at least provided with 2 groups and is symmetrically arranged on the mounting plate.

As a further improvement, 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, 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.

As a further improvement, a photoelectric sensor is arranged between the gear plate and the rotating shaft frame.

As a further improvement, a limiting rod is arranged between the lifting plate and the mounting plate.

As a further improvement, the locating piece is provided with 2 pieces, 4 pieces or 1 piece which are arranged at the lower end of the shaft lever.

As a further improvement, the upper end of the fixing frame is provided with a laser radar.

As a further improvement, the mounting plate is provided with obstacle avoidance radar at least at the diagonal position.

As a further improvement, the supporting plate is provided with a supporting groove, a micro switch is arranged in the supporting groove, 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 supporting groove; limit sensors are arranged at the upper end and the lower end of the running track of the guide rail and the sliding block.

As a further improvement, a charging jack and an automatic charging plate are arranged on one side of the mounting plate.

As a further improvement, the anti-collision strip and the warning lamp are arranged around the installation frame.

As a further improvement, 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.

As a further improvement, the elastic drive steering wheel assembly has a unidirectional steering range of ^± degrees and a total steering angle of 280 degrees.

As a further improvement, the elastic driving steering wheel assembly has an up-and-down adjustment distance of + -10 mm.

The beneficial effects of the utility model are as follows: 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.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of the overall structure of a cloth conveying apparatus according to the present utility model;

FIG. 2 is a schematic perspective view of a cloth conveying apparatus of the present utility model;

FIG. 3 is a schematic view of the internal structure of a cloth conveying apparatus according to the present utility model;

FIG. 4 is a schematic view of the elevating mechanism of a cloth conveying apparatus according to the present utility model;

FIG. 5 is a schematic view of a portion of a cloth conveying apparatus according to the present utility model;

FIG. 6 is a schematic view of the spring driven steering wheel assembly of the cloth conveying apparatus of the present utility model;

FIG. 7 is a schematic view of another construction of an elastically driven steering wheel assembly of a cloth conveying apparatus in accordance with the present utility model;

Fig. 8 is a schematic view of a part of the structure of an elastically driven steering wheel assembly of a cloth transporting apparatus of the present utility model.

Reference numerals:

A mounting frame 1; a bumper strip 11; a charging jack 12; an automatic charging plate 13; a warning light 14; a mounting plate 2; a mounting port 21; a stopper rod 22; obstacle avoidance radar 23; a lifting mechanism 3; a fixing frame 31; a pallet 32; a bracket 321; a micro switch 322; a sensing lever 323; a mounting base 33; a screw 34; a screw sleeve 35; a lift motor 36; a guide rail 37; a slider 38; a limit sensor 39; a universal wheel 4; a steering wheel assembly 5 is elastically driven; a lifting plate 51; a sleeve 52; a shaft 53; a positioning piece 531; a spring 54; a gear plate 55; a photosensor 551; a spindle bracket 56; encoder one 561; an adjustment motor 57; a speed reducer 571; a drive motor 58; a driving wheel 59; encoder two 591; a storage battery 6; a control unit 7; a controller 71; a control button 72; a speaker 73; and a lidar 8.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model.

In the description of the present utility model, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the description of the present utility model, the terms "upper," "middle," "side," "upper," "end," and the like refer to an orientation or positional relationship based on that shown in the drawings, merely for convenience of description and to simplify the description, rather than to indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the utility model.

Referring to fig. 1-8, a cloth transporting device comprises a mounting frame 1, a mounting plate 2, a lifting mechanism 3, universal wheels 4, an elastic driving steering wheel assembly 5, a storage battery 6 and a control unit 7, wherein the mounting plate 2 is fixed in the mounting frame 1, the lifting mechanism 3 is arranged at the rear side of the mounting plate 2, the universal wheels 4 are arranged at four corners of the lower side surface of the mounting plate 2, the elastic driving steering wheel assembly 5 penetrates through the mounting plate 2, and the storage battery 6 is fixed on the mounting plate 2; the lifting mechanism 3 is provided with a fixing frame 31, a lifting assembly and a supporting plate 32, the fixing frame 31 is fixed on the rear side of the mounting plate 2, the lifting assembly is vertically arranged on the fixing frame 31, the supporting plate 32 is connected with the lifting assembly, and the lifting assembly, the elastic driving steering wheel assembly 5 and the storage battery 6 are connected with the control unit 7.

The mounting frame 1 and the mounting plate 2 form a mounting base, and an L-shaped lifting frame structure is formed with a fixing frame 31 arranged at the rear side of the mounting plate 2.

The lifting assembly moves the pallet 32 up and down to lift the blank up and out of the machine and down to other tooling positions.

The elastic driving steering wheel assembly 5 provides transportation power on one hand, and on the other hand, can be used for adjusting the position to adapt to the ground in different conditions through being capable of being adjusted up and down elastically, so that the steering wheel assembly is prevented from losing power when being separated from the ground or cannot advance when being impacted by a ground obstacle.

The storage battery 6 provides electric energy for the whole equipment, and the storage battery 6 is preferably arranged on the mounting plate 2 of the mounting frame 1, and is arranged far away from the side of the fixing frame 31 or is arranged perpendicular to the fixing frame 31, so that the whole carrier is more stable.

The control unit 7 is used for controlling the operation of each mechanism, controlling the lifting mechanism 3 to take out cloth, controlling the steering wheel assembly 5 to steer by elastic driving, and the control unit 7 can execute each step according to a control program set for the machine to finish the picking, placing and carrying tasks.

The fixing frame 31 and the mounting frame 1 are provided with an outer cover so as to hide internal structural components, and the periphery of the mounting frame 1 can be provided with a warning lamp.

Further, the mounting plate 2 is fixed to the middle of the mounting frame 1.

The mounting panel 2 is as holistic installation fixed body, because some structures need set up in the upside of mounting panel 2, some then need install in the downside, in order to reduce the thickness of installing frame 1, increase elevating system 3's decline distance, locate mounting panel 2 at installing frame 1 middle part, and equipment such as elastic drive steering wheel subassembly 5 and battery 6 run through mounting panel 2 setting from top to bottom, have promoted space utilization, have reduced the focus of equipment for equipment operation is more stable. And guarantee that the internal mounting structure is hidden in the installation frame 1, the installation frame 1 sets up the upper cover for equipment is whole more pleasing to the eye.

Further, the battery 6 is provided through the mounting plate 2.

The ground clearance of the storage battery 6 is not smaller than the ground clearance after the steering wheel assembly 5 is elastically driven to be compressed upwards, so that the collision between the battery and the ground is avoided.

Further, the lifting assembly is provided with a mounting seat 33, a screw rod 34, a threaded sleeve 35, a lifting motor 36, a guide rail 37 and a sliding block 38, the mounting seat 33 is fixed at the lower end of the fixed frame 31, the upper end and the lower end of the screw rod 34 are respectively connected with the fixed frame 31 through bearing seats, the threaded sleeve 35 is in threaded connection with the screw rod 34, the threaded sleeve 35 is connected with the supporting plate 32, the lifting motor 36 is fixed on the mounting seat 33 and in gear linkage with the screw rod 34, the guide rail 37 is arranged on the fixed frame 31 at two sides of the screw rod 34, the sliding block 38 is connected with the supporting plate 32, and the sliding block 38 is connected with the guide rail 37.

According to the application, a driving structure is arranged on the mounting plate 2 in a gear driving mode, the lifting motor 36 and the screw rod 34 are adjacently arranged, so that the problem that the whole device is unstable due to the fact that the lifting motor 36 is arranged at one end of the screw rod 34, the mounting height is increased and even the whole gravity center is too high at the upper end is solved; the adjacent arrangement of the lift motor 36 and the lead screw 34 not only lowers the overall center of gravity of the equipment, but also increases the lift distance. In addition, the lifting is realized by adopting the screw rod 34 and screw sleeve 35 screw thread mode, the problem that a sliding rod appears by adopting an air cylinder can be avoided, the servo motor can control the running distance more accurately by adopting a gear and screw thread driving mode to be more stable.

Further, the elastic driving steering wheel assembly 5 is provided with a lifting plate 51, a shaft sleeve 52, a shaft rod 53, a spring 54, a gear disc 55, a rotating shaft frame 56, an adjusting motor 57, a driving motor 58 and a driving wheel 59, the mounting plate 2 is provided with a mounting opening 21, the shaft sleeve 52 is arranged around the mounting opening 21, the shaft rod 53 penetrates through the shaft sleeve 52 and the mounting plate 2, the upper end of the shaft rod 53 is connected with the lifting plate 51, a positioning piece 531 is arranged at the lower end of the shaft rod 53, the spring 54 is sleeved on the shaft rod 53 between the positioning piece 531 and the mounting plate 2, the gear disc 55 is fixed on the lower side surface of the lifting plate 51, the rotating shaft frame 56 is rotationally connected with the gear disc 55, the adjusting motor 57 is fixed on the rotating shaft frame 56 and is in gear connection with the gear disc 55, the driving wheel 59 is rotationally arranged at the lower end of the rotating shaft frame 56, the driving motor 58 is fixed on the rotating shaft frame 56 at one side of the driving wheel 59, and the driving motor 58 is rotationally linked with the driving wheel 59.

The gear plate 55 is fixed with the lifting plate 51, and the structure is more stable than the mode of fixing by the central shaft lever 53.

The adjusting motor 57 drives the rotation of the rotation shaft bracket 56 to realize the adjustment of the movement direction of the driving wheel 59.

Lifting plate 51 and spring 54 locate mounting panel 2 both sides respectively, have realized that pivot frame 56 runs through the design of mounting panel 2, on the one hand make full use of the space in the mounting frame 1, on the other hand reduced holistic height that sets up for whole device focus is low, and the operation is more stable.

Further, the elastic driving steering wheel assembly 5 is provided with 1 group and is arranged in the center of the mounting plate 2, or the elastic driving steering wheel assembly 5 is at least provided with 2 groups and is symmetrically arranged on the mounting plate 2.

Under the condition of enough power, 1 group of elastic driving steering wheel assemblies 5 are arranged, and the driving in different directions is realized through the adjusting motor 57. The storage battery 6 with the structure is preferably arranged on two sides or the front side, so that the overall weight distribution is more even.

At least 2 groups of elastic driving steering wheel assemblies 5 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 6 is preferably arranged in the middle position.

Further, the lifting motor 36, the adjusting motor 57 and the driving motor 58 are provided with a speed reducer 571, the rotating shaft frame 56 is provided with a first encoder 561 in gear linkage with the gear plate 55, and the rotating shaft frame 56 on the opposite side of the driving motor 58 is provided with a second encoder 591 connected with the driving wheel 59.

The speed reducer 571 is provided to increase the output torque and reduce the inertia of the load while decelerating, and the encoder is used to precisely control the rotation angle of the adjustment motor 57 and the running distance of the driving motor 58. A speed reducer 571 for the drive motor 58 may be provided in the drive wheel 59, and the drive wheel 59 may include the speed reducer 571.

Further, a photoelectric sensor 551 is disposed between the gear plate 55 and the rotating shaft frame 56.

For resetting the spool holder 56 to the initial position.

Further, a stop lever 22 is provided between the lifting plate 51 and the mounting plate 2.

For defining the maximum extent to which drive wheel 59 is extended.

Further, the positioning piece 531 is provided with 2 pieces, 4 pieces or 1 piece, which are disposed at the lower end of the shaft 53.

The 2 positioning sheets 531 are arranged, and the same positioning sheet 531 is arranged on the shaft rods 53 at the two end sides, so that the two shaft rods 53 form a whole, and the lower ends of the shaft rods 53 are prevented from being deviated; the 4 shaft rods 53 are integrally connected by adopting 1 positioning piece 531, so that the stress among the shaft rods 53 is more uniform, and the driving wheel 59 or the rotating shaft frame 56 is prevented from being offset and damaged.

Further, a laser radar 8 is arranged at the upper end of the fixing frame 31.

The navigation function is achieved on the walking route of the carrier.

Further, at least the diagonal position of the mounting plate 2 is provided with an obstacle avoidance radar 23.

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

Further, the supporting plate 32 is provided with a supporting groove 321, a micro switch 322 is arranged in the supporting groove 321, the micro switch 322 is arranged on the lower side surface of the supporting plate 32, and an induction rod 323 of the micro switch 322 penetrates through and extends out of the supporting groove 321; limit sensors 39 are arranged at the upper end and the lower end of the running track of the guide rail 37 and the sliding block 38.

The micro switch 322 is used for sensing whether the material is placed in the bracket 321, and when the material is placed in the bracket 321, the lifting motor 36 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 3 needs to be lifted by different distances to contact the materials, and after the lifting mechanism contacts the materials, the lifting motor 36 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 321 is arranged in an arc shape and corresponds to the shape of the cloth roll.

The limit sensor 39 plays a limit protection to the operation of the supporting plate 32, avoids exceeding the operation range, and the lower end is provided with two limit sensors 39, so that the limit sensor plays a standby role, and avoids damage caused by collision of one failure to the equipment below.

Further, a charging jack 12 and an automatic charging plate 13 are arranged on one side of the mounting plate 2.

The charging jack 12 is used to manually connect the device to a power interface for charging. The automatic charging plate 13 is used for automatically and correspondingly moving the equipment to a charging port which is in butt joint with the automatic charging plate 13 by the control unit 7 under the condition of insufficient electric quantity, and the anode and the cathode of the charging port are in contact with the anode and cathode copper plates of the automatic charging plate 13 to be electrically connected so as to realize automatic charging operation.

Further, the periphery of the installation frame 1 is provided with an anti-collision strip 11 and a warning lamp 14. The anti-collision warning device is used for preventing collision, reminding a vehicle to walk or warning of faults and the like.

Further, the control unit 7 is provided with a controller 71, a control button 72 and a speaker 73, wherein the controller 71 is arranged in the fixing frame 31, the control button 72 is arranged on the upper end surface of the fixing frame 31, the speaker 73 is arranged on two sides of the fixing frame 31, and the control button 72 and the speaker 73 are connected with the controller 71. The control unit 7 is further provided with a display screen, and the display screen is disposed on the upper end surface of the fixing frame 31.

The controller 71 responds to the parameter values set by each device through the set program, and realizes that the automatic control device finishes picking, placing and transporting cloth. Speaker 73 emits a warning sound or a warning sound.

Further, the elastic driving steering wheel assembly 5 has a unidirectional steering range of ^± degrees and a total steering angle of 280 degrees.

Further, the elastic driving steering wheel assembly 5 is adjusted to be +/-10 mm in vertical direction.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, and various modifications and variations may be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims (10)

1. The cloth conveying device 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 supporting plate is connected with the lifting assembly, and the lifting assembly, the elastic driving steering wheel assembly and the storage battery are connected with the control unit.

2. The cloth conveyer according to claim 1, wherein 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 at 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.

3. The cloth conveyer according to claim 1, wherein 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, 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, the lower end of the shaft rod is provided with a positioning sheet, the spring is sleeved on the shaft rod between the positioning sheet and the mounting plate, the gear disc is fixed on the lower side surface of the lifting plate, the rotating shaft frame is in rotary connection with the gear disc, the adjusting motor is fixed on the rotating shaft frame and in gear connection with the gear disc, the driving wheel is rotationally arranged on the lower end of the rotating shaft frame, the driving motor is fixed on the rotating shaft frame on one side of the driving wheel, and the driving motor is in linkage with the driving wheel.

4. A cloth conveying device according to claim 3, wherein 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; 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, 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.

5. A cloth conveying device according to claim 3, wherein a photoelectric sensor is arranged between the gear plate and the rotating shaft frame; and a limiting rod is arranged between the lifting plate and the mounting plate, and the positioning sheet is provided with 2 sheets, 4 sheets or 1 sheet and is arranged at the lower end of the shaft lever.

6. A cloth conveying device according to claim 1 or 2, wherein the upper end of the fixing frame is provided with a laser radar, and the mounting plate is provided with an obstacle avoidance radar at least at the diagonal position.

7. The cloth conveying device according to claim 2, wherein the supporting plate is provided with a supporting groove, a micro switch is arranged in the supporting groove, 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 supporting groove; 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 cloth conveyer according to claim 1, wherein a charging jack and an automatic charging plate are arranged on one side of the mounting plate, and anti-collision strips and warning lamps are arranged on the periphery of the mounting frame.

9. A cloth transport apparatus as claimed in claim 1 or claim 3, wherein the resiliently driven steering wheel assembly has a unidirectional steering range of ± 140 ° and a total steering angle of 280 °.

10. A cloth conveying apparatus according to claim 1 or 3, wherein the elastic driving steering wheel assembly is vertically adjusted by a distance of ±10mm.