Automatic protofilament feeding system

Abstract

The invention relates to the technical field of conveying devices for silk cake-shaped products, and particularly provides an automatic protofilament feeding system. The device comprises a spinning cake, a protofilament feeding robot, a protofilament transfer station and a filament frame, the protofilament feeding robot comprises a moving mechanism and at least two automatic filament feeding mechanisms, each automatic filament feeding mechanism is provided with a transfer screw rod and a transfer push plate, and the spinning cake can be arranged on the outer wall of the transfer screw rod in a sleeving mode; the transfer push plate is provided with a sliding groove matched with the transfer lead screws, the transfer push plate can slide relative to the transfer lead screws, each transfer lead screw is provided with a detection end, and the detection end is provided with a visual detection sensor. The protofilament feeding robot capable of feeding the bottom-layer filament frame is adopted, so that waste of the space of the filament frame is avoided; the protofilament transfer station is adopted to receive the spinning cakes, manual carrying of the spinning cakes to the filament frame is avoided, the manual carrying distance and carrying height of the spinning cakes are reduced, and the labor intensity and the working risk are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of silk cake-shaped product transportation and storage devices, and in particular provides an automatic raw silk loading system. Background Art

[0002] In the chemical fiber textile industry, the texturing process plays an important technological link. The vast majority of chemical fiber raw silk is still in the stage of manual loading when loading on the texturing equipment. Since the silk cakes are heavy and the silk racks are relatively high, loading the raw silk requires a lot of labor and has a high risk factor. Enterprises are faced with difficulties such as difficulty in recruiting workers. With the advancement of science and technology, some automated research and development products have also appeared, but none of them have been able to achieve the silk loading function well. Prior art CN114875543B is an intelligent production system for warping factories, including a feeding area, a creel area, a warping production area, an empty warp beam area and a full warp beam storage area. The feeding area is provided with a yarn feeding robot, the creel area is provided with a spliced ​​creel for filament warping, which is composed of a plurality of yarn hanging trolleys spliced ​​together, and the warping production area is provided with a warping machine; the first AGV trolley transports the empty yarn hanging trolley from the creel area to the yarn feeding station, and when the raw material silk cake is placed at the raw material placement station, the yarn feeding robot automatically grabs the raw material silk cake and hangs it on the yarn hanging trolley. After the silk cake is full, the first AGV trolley transports the full yarn hanging trolley from the yarn feeding station to the creel area to form a spliced ​​creel; the second AGV trolley transports the empty warp beam to the warping machine, and after the warping machine completes the warping of a warp beam, the second AGV trolley transports the full warp beam from the warping production area to the full warp beam storage area for storage. The prior art has low silk feeding efficiency and equipment space utilization. The inventor believes that there is much room for improvement in the prior art. Summary of the invention

[0003] The purpose of the present invention is to adopt automated silk feeding equipment, raw silk feeding robots and raw silk transfer stations to replace manual feeding, reduce labor intensity and reduce work risks. Secondly, the use of automated silk feeding equipment can reduce the labor demand of enterprises and solve the problems of difficulty in recruiting workers; the raw silk transfer station is used to receive silk cakes for temporary storage, and the raw silk feeding robot takes materials from the raw silk transfer station and moves them to the designated silk rack position, automatically hangs the raw silk cakes on the silk rack, avoids manual transportation of silk cakes to the silk rack, can reduce manual labor intensity, reduce the transportation distance and transportation height of silk cakes, and improve work efficiency. To this end, the present invention provides an automatic raw silk feeding system, including a silk cake and a raw silk feeding robot, the raw silk feeding robot includes a moving mechanism and at least two automatic silk feeding mechanisms, the automatic silk feeding mechanism is provided with a transfer screw and a transfer push plate, the silk cake can be sleeved on the outer wall of the transfer screw, the transfer push plate is provided with a slide groove to cooperate with the transfer screw, the transfer push plate can slide relative to the transfer screw, each transfer screw is provided with a detection end, and the detection end is provided with a visual detection sensor. The use of a silk-pulling robot instead of manual transfer can increase the number of silk cakes transferred in a single trip and improve work efficiency; the use of a silk-pulling robot instead of manual transfer can reduce the distance and height of silk cakes that need to be carried by humans, reduce labor intensity, and reduce work risks; a detection end is set on the transfer screw rod, and a visual sensor is set at the detection end to collect image information. The system control unit of the silk-pulling robot determines whether the silk cake loading position can be used for loading, thereby improving the accuracy and reliability of silk cake loading.

[0004] Preferably, the detection end of the transfer screw rod is provided with a mounting hole, a visual detection sensor is provided in the mounting hole, and an anti-collision cover is provided outside the detection end to protect the visual detection sensor. The mounting hole and the anti-collision cover are provided at the detection end of the transfer screw rod, and the visual detection sensor is embedded in the detection end of the transfer screw rod, which can protect the visual detection sensor from being hit during operation; since the visual detection sensor adopts a light source camera, the visual detection sensor is provided at the detection end to facilitate the acquisition of image information of the silk cake feeding position, thereby improving the accuracy and reliability of the silk cake feeding work.

[0005] Preferably, the silk thread loading robot includes a transfer rack, an automatic thread loading mechanism is arranged inside the transfer rack, and the automatic thread loading mechanism includes a servo slide, the servo slide is fixed to the inner wall of the transfer rack, and the transfer push plate is fixed to the servo slide. The servo slide and the transfer push plate are used to realize the loading of the silk cake on the transfer screw rod, and the servo slide controls the moving distance of the transfer push plate through a pulse signal, and only pushes one silk cake to load at a time; the transfer rack is used to protect and limit the automatic thread loading mechanism to prevent the silk cake on the transfer screw rod from falling off and posing a threat to the personal safety of the operator; the transfer rack is used to facilitate the longitudinal stacking of multiple automatic thread loading mechanisms, thereby improving the carrying efficiency of the silk thread loading robot in one-way transportation.

[0006] Preferably, the transfer rack comprises a first fixed side wall, a connecting side wall and a second fixed side wall, the first fixed side wall and the second fixed side wall are connected by the connecting side wall, the first fixed side wall and the second fixed side wall are parallel and located on the same side of the connecting side wall, the outer bottom of the first fixed side wall and the second fixed side wall are provided with a moving mechanism, the inner side of the first fixed side wall and the second fixed side wall is fixed with an automatic threading mechanism, and the detection end of the transfer screw rod is far away from the connecting side wall. The internal space of the transfer rack is used to set the automatic threading mechanism, which can maximize the number of silk cakes that the upper silk robot can transfer in a single trip; the moving mechanism is set on the outside of the transfer rack to reduce the occupation of the internal space of the transfer rack, reduce the height of the transfer rack, and reduce the height requirement of the working space of the upper silk robot; the moving mechanism is set on the outside of the transfer rack, so that the automatic threading mechanism can be set at the bottom of the transfer rack, and the bottom silk rack can be loaded, avoiding the waste of silk rack space and reducing the waste of factory space; the moving mechanism is set on the outside of the transfer rack, which can reduce the center of gravity of the upper silk robot and avoid the upper silk robot from overturning when turning during transportation.

[0007] Preferably, the automatic raw silk feeding system includes a raw silk transfer station, which includes a gantry and a transfer screw rod group. Chain lifting mechanisms are provided on both sides of the gantry. The chain lifting mechanisms fix the transfer screw rod group. The chain lifting mechanisms can lift the transfer screw rod group up and down. The transfer screw rod group is located on the front of the gantry. The raw silk transfer station is provided with a chain lifting mechanism to adjust the height of the transfer screw rod group, so as to facilitate adjusting the transfer screw rod group to a suitable position and placing the silk cake on the transfer screw rod, so as to avoid workers lifting or bending over to place the silk cake, thereby reducing the work intensity of manually moving the silk cake; after the raw silk transfer station temporarily stores multiple silk cakes, the upper raw silk robot receives all the silk cakes of the raw silk transfer station, and can load multiple silk cakes in one trip, which can effectively improve the work efficiency; the chain lifting mechanism can place the silk cakes at a high position on the upper raw silk robot, thereby increasing the number of silk cakes transported by the upper raw silk robot in one trip; the chain lifting mechanism can lower the transfer screw rod group to a position close to the factory floor, thereby facilitating the loading of the transfer screw rod at the bottom of the upper raw silk robot; the chain lifting mechanism can place the silk cakes at a high position on the upper raw silk robot, thereby reducing the number of silk cakes at the same height, reducing the width of the upper raw silk robot, reducing the space for the robot to pass through in the factory, and increasing the space for setting the silk rack.

[0008] Preferably, the transfer screw group is fixed with at least two transfer screws, each transfer screw is provided with a corresponding servo pusher mechanism near the gantry, and the transfer screw cooperates with the transfer screw. The transfer screw of the transfer screw group corresponds to the transfer screw of the upper raw silk robot, which is convenient for transferring multiple silk cakes at a time when the upper raw silk robot is docked with the raw silk transfer station; each transfer screw is individually controlled by the corresponding servo pusher mechanism, which is convenient for transferring the required number of silk cakes on the transfer screw to the transfer screw, and improving the reliability of the process from the raw silk transfer station to the upper raw silk robot.

[0009] Preferably, the servo push mechanism includes a transfer push plate, which is provided with a slide groove capable of cooperating with the transfer screw, and the transfer push plate can slide relative to the transfer screw. The transfer push plate is used to realize the movement of the silk cake from the raw silk transfer station to the upper raw silk robot, and the number of silk cakes that can be accepted by a single transfer screw is pushed at one time, thereby improving the transfer efficiency of the silk cake.

[0010] Preferably, the maximum number of silk cakes that the raw silk transfer station can accommodate is consistent with the maximum number of silk cakes that the upper raw silk robot can accommodate. The maximum number of silk cakes that the raw silk transfer station can accommodate is consistent with the maximum number of silk cakes that the upper raw silk robot can accommodate, which is conducive to the upper raw silk robot receiving all the silk cakes from the raw silk transfer station in one way, improving the efficiency of raw silk transfer, and facilitating the subsequent placement of silk cakes in the raw silk transfer station; the maximum number of silk cakes that the raw silk transfer station can accommodate is consistent with the maximum number of silk cakes that the upper raw silk robot can accommodate, and the upper raw silk robot can reach the upper limit of the transfer quantity in one way, avoiding the waste of transfer space of the upper raw silk robot.

[0011] The present invention adopts a raw silk robot and a raw silk transfer station to realize automatic silk loading, instead of manual loading, reducing labor intensity and work risks; the use of automated silk loading equipment can reduce the labor demand of enterprises and solve the problems of difficulty in recruiting workers for enterprises; the raw silk transfer station is used to receive silk cakes for temporary storage, and the raw silk robot takes materials from the raw silk transfer station and moves them to the designated silk rack position, and automatically hangs the raw silk cakes on the silk rack, replacing manual transportation of silk cakes to the silk rack, which can reduce manual labor intensity, reduce the transportation distance and transportation height of silk cakes, improve work efficiency, and has the following beneficial effects: a detection end is set on the transfer screw rod, and a visual sensor is set on the detection end to collect image information, and the system control unit of the raw silk robot determines the silk cake Whether the loading position can carry out loading work, improve the accuracy and reliability of silk cake loading work; the internal space of the transfer rack is used to set up the automatic wire loading mechanism, which can maximize the number of silk cakes transferred by the raw silk robot in a single trip; the moving mechanism is set on the outside of the transfer rack to reduce the occupation of the internal space of the transfer rack, reduce the height of the transfer rack, and reduce the height requirement of the working space of the raw silk robot; the moving mechanism is set on the outside of the transfer rack, so that the automatic wire loading mechanism can be set at the bottom of the transfer rack, and the bottom wire rack can be loaded, reducing the waste of factory space; the moving mechanism is set on the outside of the transfer rack, which can lower the center of gravity of the raw silk robot and avoid the overturning of the raw silk robot when turning during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the implementation methods of the invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0013] Figure 1 It is a front view of the upper original silk robot of the present invention; Figure 2 A top view of the upper silk robot of the present invention; Figure 3 It is a structural schematic diagram of the automatic threading mechanism of the present invention; Figure 4 It is a side view of the automatic threading mechanism of the present invention; Figure 5 It is a structural schematic diagram of the raw silk transfer station of the present invention; Figure 6 It is a front view of the raw silk transfer station of the present invention; Figure 7 It is a side view of the raw silk transfer station of the present invention; Figure 8 It is a partial enlarged view of the raw silk transfer station of the present invention; Fig. 9 is a side view of the wire rack of the present invention; Fig.10 It is a flow chart of the silk-laying process of the present invention.

[0014] Explanation of the reference numerals: 1 wire cake; 2 automatic wire feeding mechanism; 201 transfer screw; 202 transfer push plate; 203 servo slide; 204 visual detection sensor; 205 anti-collision cover; 3 transfer frame; 301 first fixed side wall; 302 connecting side wall; 303 second fixed side wall; 4 moving mechanism; 5 transfer screw group; 501 transfer screw; 502 transfer push plate; 6 gantry; 7 chain lifting mechanism; 8 servo pushing mechanism; 9 wire rack. DETAILED DESCRIPTION

[0015] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0016] Embodiment 1 Combination Figure 1 and Figure 2As shown, an automatic raw silk feeding system includes a silk cake 1 and a raw silk feeding robot. The raw silk feeding robot includes a moving mechanism 4 and two rows of six automatic silk feeding mechanisms 2. Each group of automatic silk feeding mechanisms 2 is provided with a transfer screw 201 and a transfer push plate 202. The silk cake 1 can be sleeved on the outer wall of the transfer screw 201. The transfer push plate 202 is provided with a slide groove to cooperate with the transfer screw 201. The transfer push plate 202 can slide relative to the transfer screw 201. Each transfer screw 201 is provided with a detection end, and the detection end is provided with a visual detection sensor 204. The use of a silk thread loading robot instead of manual transfer can increase the number of silk cakes 1 transferred in a single trip and improve work efficiency; the use of a silk thread loading robot instead of manual transfer can reduce the distance and height of the silk cakes 1 that need to be carried by manual labor, reduce manual labor intensity, and reduce manual work risks; a detection end is set on the transfer screw rod 201, and a visual detection sensor 204 is set on the detection end to collect image information. The system control unit of the silk thread loading robot determines whether the loading position of the silk cake 1 can be used for loading, thereby improving the accuracy and reliability of the loading work of the silk cake 1.

[0017] Combination Figure 3 and Figure 4 As shown, the detection end of the transfer screw 201 is provided with a mounting hole, a visual detection sensor 204 is provided in the mounting hole, and an anti-collision cover 205 is provided outside the detection end to protect the visual detection sensor 204. The mounting hole and the anti-collision cover 205 are provided at the detection end of the transfer screw 201, and the visual detection sensor 204 is embedded in the detection end of the transfer screw 201, which can protect the visual detection sensor 204 from being hit during operation; since the visual detection sensor 204 adopts a light source camera, the visual detection sensor 204 is arranged at the detection end to facilitate the acquisition of image information of the feeding position of the silk cake 1, thereby improving the accuracy and reliability of the feeding work of the silk cake 1.

[0018] Combination Figure 2 , Figure 3 , Figure 4 and Fig. 9 As shown, the silk thread robot includes a transfer frame 3, an automatic silk threading mechanism 2 is arranged inside the transfer frame 3, and the automatic silk threading mechanism 2 includes a servo slide 203, the servo slide 203 is fixed to the inner wall of the transfer frame 3, and the transfer push plate 202 is fixed on the servo slide 203. The transfer frame 3 includes a first fixed side wall 301, a connecting side wall 302 and a second fixed side wall 303, the first fixed side wall 301 and the second fixed side wall 303 are connected by the connecting side wall 302, the first fixed side wall 301 and the second fixed side wall 303 are parallel and located on the same side of the connecting side wall 302, the outer bottom of the first fixed side wall 301 and the second fixed side wall 303 are both provided with a moving mechanism 4, the automatic silk threading mechanism 2 is fixed on the inner side of the first fixed side wall 301 and the second fixed side wall 303, and the detection end of the transfer screw rod 201 is away from the connecting side wall 302.

[0019] Through the above-mentioned arrangement, the servo slide 203 and the transfer push plate 202 are used to realize the loading of the silk cake 1 on the transfer screw rod 201. The servo slide 203 controls the moving distance of the transfer push plate 202 through a pulse signal, and only pushes one silk cake 1 to be loaded at a time; the transfer frame 3 is used to protect and restrict the automatic silk loading mechanism 2, so as to prevent the silk cake 1 on the transfer screw rod 201 from falling off and posing a threat to the personal safety of the operator; the transfer frame 3 is used to facilitate the longitudinal stacking of multiple automatic silk loading mechanisms 2, thereby improving the carrying efficiency of the one-way transportation of the raw silk loading robot. The internal space of the transfer rack 3 is used to set up the automatic wire loading mechanism 2, which can maximize the number of silk cakes 1 that the upper raw silk robot can transfer in a single trip; the moving mechanism 4 is set on the outside of the transfer rack 3 to reduce the occupation of the internal space of the transfer rack 3, reduce the height of the transfer rack 3, and reduce the height requirement of the working space of the upper raw silk robot; the moving mechanism 4 is set on the outside of the transfer rack 3, so that the automatic wire loading mechanism 2 can be set at the bottom of the transfer rack 3, and the bottom wire rack 9 can be loaded, reducing the waste of factory space; the moving mechanism 4 is set on the outside of the transfer rack 3, which can lower the center of gravity of the upper raw silk robot and avoid the upper raw silk robot from overturning when turning during transportation.

[0020] like Figure 6 As shown, the automatic raw silk loading system includes a raw silk transfer station, which includes a gantry 6 and a transfer screw rod group 5. Chain lifting mechanisms 7 are provided on both sides of the gantry 6. The chain lifting mechanisms 7 fix the transfer screw rod group 5. The chain lifting mechanisms 7 can lift the transfer screw rod group 5 up and down. The transfer screw rod group 5 is located in front of the gantry 6. The raw silk transfer station is provided with a chain lifting mechanism 7 to adjust the height of the transfer screw rod group 5, so as to facilitate adjusting the transfer screw rod group 5 to a suitable position, and putting the silk cake 1 on the transfer screw rod 501, thereby reducing the work intensity of manually moving the silk cake 1; after the raw silk transfer station is used to temporarily store multiple silk cakes 1, the raw silk loading robot receives all the silk cakes 1 of the raw silk transfer station, and multiple silk cakes 1 can be loaded in one trip, which can effectively improve the work efficiency.

[0021] The transfer screw rod group 5 is fixed with two rows of three transfer screw rods 501 in each row. Each transfer screw rod 501 is provided with a corresponding servo pusher mechanism 8 near the gantry 6. The transfer screw rod 501 cooperates with the transfer screw rod 201. The transfer screw rod 501 of the transfer screw rod group 5 corresponds to the transfer screw rod 201 of the upper raw silk robot, which is convenient for the upper raw silk robot to transfer multiple silk cakes 1 at a time when docking with the raw silk transfer station. In this embodiment, there are six silk cakes 1 per raw silk transfer station and three silk cakes 1 per upper raw silk robot. The raw silk transfer station first pushes three silk cakes 1 at a low position, and then is lifted to a high position by the chain lifting mechanism 7, and then the remaining three silk cakes 1 are pushed; each transfer screw rod 501 is individually controlled by the corresponding servo pusher mechanism 8, which is convenient for transferring the required number of silk cakes 1 on the transfer screw rod 501 to the transfer screw rod 201, and improving the reliability of the process from the raw silk transfer station to the upper raw silk robot.

[0022] like Figure 8 As shown, the servo push mechanism 8 includes a transfer push plate 502, which is provided with a slide groove capable of cooperating with the transfer screw 501, and the transfer push plate 502 can slide relative to the transfer screw 501. The transfer push plate 502 is used to realize the movement of the silk cake 1 from the raw silk transfer station to the upper raw silk robot, and the number of silk cakes 1 that can be accepted by a single transfer screw 201 is pushed at one time, thereby improving the transfer efficiency of the silk cake 1.

[0023] Combination Figure 1 , Figure 2 , Figure 5 and Figure 7 As shown, the maximum number of silk cakes 1 that the raw silk transfer station can accommodate is consistent with the maximum number of silk cakes 1 that the upper raw silk robot can accommodate. In this embodiment, the raw silk transfer station has six rods, each with six silk cakes 1, and the upper raw silk robot has twelve rods, each with three silk cakes 1, and the total number is consistent. The maximum number of silk cakes 1 that the raw silk transfer station can accommodate is consistent with the maximum number of silk cakes 1 that the upper raw silk robot can accommodate, which is conducive to the upper raw silk robot accepting all the silk cakes 1 of the raw silk transfer station in one way, improving the efficiency of raw silk transportation, and facilitating the subsequent placement of silk cakes 1 in the raw silk transfer station; the maximum number of silk cakes 1 that the raw silk transfer station can accommodate is consistent with the maximum number of silk cakes 1 that the upper raw silk robot can accommodate, and the upper limit of the transportation quantity of the upper raw silk robot can be reached in one way, avoiding the waste of transportation space of the upper raw silk robot.

[0024] like Fig.10As shown, the present invention only uses manual placement to place the silk cake on the transfer screw rod on the raw silk transfer station; after the raw silk transfer station is fully loaded, a signal is sent, and the raw silk robot goes to the raw silk transfer station to take the silk; the raw silk transfer station pushes the silk cake on the screw rod to the transfer screw rod 201 on the upper raw silk robot through the pushing cylinder and the transfer push plate 502, completing a silk taking work; the upper raw silk robot uses a visual sensor to retrieve an empty silk rack, and carries the silk cake 1 to the front of the silk rack 9, pushes the silk cake 1 on the transfer screw rod 201 to the hanging rod of the silk rack to complete a silk loading work; the upper raw silk robot detects whether it still carries the silk cake 1, and if it carries the silk cake 1, it cycles the silk loading work, and if it does not carry the silk cake 1, it starts the cycle from the silk taking work or ends the work.

[0025] The present invention realizes automatic silk feeding, replaces manual feeding, reduces labor intensity and reduces work risks; the use of automatic silk feeding equipment can reduce the labor demand of enterprises and solve the problems of difficulty in recruiting workers; the use of raw silk transfer station can reduce the labor intensity of manual labor, reduce the transportation distance and transportation height of the silk cake 1, improve work efficiency, and has the following beneficial effects: a detection end is set on the transfer screw rod 201, and a visual detection sensor 204 is set on the detection end to collect image information. The system control unit of the raw silk feeding robot determines whether the feeding position of the silk cake 1 can be used for feeding, thereby improving the accuracy and reliability of the feeding work of the silk cake 1; the internal space of the transfer frame 3 is The space is used to set the automatic wire loading mechanism 2, which can maximize the number of silk cakes 1 transported by the raw silk robot in a single trip; the moving mechanism 4 is set on the outside of the transfer rack 3 to reduce the occupation of the internal space of the transfer rack 3, reduce the height of the transfer rack 3, and reduce the height requirement of the working space of the raw silk robot; the moving mechanism 4 is set on the outside of the transfer rack 3, so that the automatic wire loading mechanism 2 can be set at the bottom of the transfer rack 3, and the bottom wire rack 9 can be loaded, reducing the waste of factory space; the moving mechanism 4 is set on the outside of the transfer rack 3, which can lower the center of gravity of the raw silk robot and avoid the overturning of the raw silk robot when turning during transportation.

[0026] The above embodiments and / or implementation methods are only used to illustrate the preferred embodiments and / or implementation methods for realizing the technology of the present invention, and are not intended to limit the implementation methods of the technology of the present invention in any form. Any technical personnel in this field may make slight changes to other equivalent embodiments without departing from the scope of the technical means disclosed in the content of the present invention, but they should still be regarded as technologies or embodiments that are essentially the same as the present invention.

Claims

1. An automatic raw silk feeding system, comprising a silk cake (1) and a raw silk feeding robot, characterized in that: The silk threading robot comprises a moving mechanism (4) and at least two automatic threading mechanisms (2), the automatic threading mechanism (2) being provided with a transfer screw (201) and a transfer push plate (202), the silk cake (1) being able to be sleeved on the outer wall of the transfer screw (201), the transfer push plate (202) being provided with a slide groove cooperating with the transfer screw (201), the transfer push plate (202) being able to slide relative to the transfer screw (201), and each of the transfer screws (201) being provided with a detection end, and the detection end being provided with a visual detection sensor (204).

2. The automatic raw silk feeding system according to claim 1, characterized in that: The detection end of the transfer screw rod (201) is provided with a mounting hole, a visual detection sensor (204) is provided in the mounting hole, and an anti-collision cover (205) is provided outside the detection end to protect the visual detection sensor (204).

3. The automatic yarn feeding system according to claim 1, characterized in that: The raw silk loading robot comprises a transfer frame (3), the automatic silk loading mechanism (2) is arranged inside the transfer frame (3), the automatic silk loading mechanism (2) comprises a servo slide (203), the servo slide (203) is fixed to the inner wall of the transfer frame (3), and the transfer push plate (202) is fixed to the servo slide (203).

4. The automatic yarn feeding system according to claim 3, characterized in that: The transfer frame (3) comprises a first fixed side wall (301), a connecting side wall (302) and a second fixed side wall (303); the first fixed side wall (301) and the second fixed side wall (303) are connected by the connecting side wall (302); the first fixed side wall (301) and the second fixed side wall (303) are parallel and located on the same side of the connecting side wall (302); a moving mechanism (4) is provided at the outer bottom of the first fixed side wall (301) and the second fixed side wall (303); an automatic threading mechanism (2) is fixed on the inner side of the first fixed side wall (301) and the second fixed side wall (303); and a detection end of the transfer screw rod (201) is away from the connecting side wall (302).

5. The automatic yarn feeding system according to claim 1, characterized in that: The automatic raw silk feeding system comprises a raw silk transfer station, the raw silk transfer station comprises a gantry (6) and a transfer screw rod group (5), chain lifting mechanisms (7) are provided on both sides of the gantry (6), the chain lifting mechanisms (7) fix the transfer screw rod group (5), the chain lifting mechanisms (7) can lift the transfer screw rod group (5) up and down, and the transfer screw rod group (5) is located in front of the gantry (6).

6. The automatic yarn feeding system according to claim 5, characterized in that: The transfer screw rod group (5) is fixed with at least two transfer screw rods (501), and each transfer screw rod (501) is provided with a corresponding servo material pushing mechanism (8) on a side close to the gantry (6), and the transfer screw rod (501) cooperates with the transport screw rod (201).

7. The automatic yarn feeding system according to claim 6, characterized in that: The servo push mechanism (8) comprises a transfer push plate (502), the transfer push plate (502) is provided with a slide groove capable of cooperating with the transfer screw rod (501), and the transfer push plate (502) can slide relative to the transfer screw rod (501).

8. The automatic yarn feeding system according to claim 5, characterized in that: The number of silk cakes (1) accommodated in the raw silk transfer station is consistent with the number of silk cakes (1) accommodated in the upper raw silk robot.

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