Steel wire tail sampling system and steel wire tail sampling method

Abstract

The present invention provides a wire tail sampling system and a wire tail sampling method. The system includes a wire anti-accumulation module, a visual inspection module and a robot sampling module; wherein the wire anti-accumulation module is used to separate the front and rear two rolls of wire output from a wire laying machine; the visual inspection module is used to collect the image of the wire transmitted from the wire anti-accumulation module, identify the tail of the wire and determine the position coordinates of the tail of the wire; the robot sampling module performs the grabbing, shearing and recycling actions of the tail of the wire based on the position coordinates of the tail of the wire transmitted by the visual inspection module. After the present invention effectively separates the front and rear two rolls of wire through the wire anti-accumulation module, the tail of the wire is identified by image processing technology based on the visual inspection module, and the robot sampling module is used to automatically grab, shear and recover the wire spline, which not only has high sampling efficiency, but also effectively provides operation safety.

Description

Technical Field

[0001] The invention relates to the technical field of steel wire manufacturing, and in particular to a steel wire tail sampling system and a steel wire tail sampling method. Background Art

[0002] During the steel wire production process, after the steel wire is spit out from the wire laying machine, a section (about 3.5m) of steel wire needs to be cut at the tail of the steel wire for subsequent quality inspection of the product. In the prior art, the steel wire sampling method is that the worker stands next to the conveyor belt, and when the steel wire is conveyed to the appropriate position, the worker manually cuts a section of the steel wire at the tail of the steel wire with a steel bar shear, and then takes away the tail steel wire.

[0003] In the prior art, the wire tail sampling method is dangerous because the wire carries a lot of heat after being spit out from the wire-laying machine, and the manual interception is also inefficient. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention provides a steel wire tail sampling system and a steel wire tail sampling method.

[0005] In one aspect, the present invention provides a wire tail sampling system, the system comprising a wire anti-accumulation module, a visual inspection module and a robot sampling module; Wherein, the steel wire anti-accumulation module is arranged at a first position on the conveying roller table adjacent to the laying head, and is used to separate the front and rear rolls of steel wire outputted from the laying head; The visual inspection module is arranged on the side of the conveying roller and at a second position in the forward direction of the conveying roller, and is used to collect the image of the steel wire transmitted from the steel wire anti-accumulation module, identify the tail of the steel wire and determine the position coordinates of the tail of the steel wire; The robot sampling module is arranged on the side of the conveying roller and is located at a third position in the forward direction of the conveying roller. It is used to perform grasping, cutting and recovery actions on the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual inspection module.

[0006] Optionally, the steel wire anti-accumulation module comprises: A first detection sensor is arranged on both sides of the conveying roller and close to the outlet of the laying machine, and is used to detect whether the laying machine has steel wire output; A steel wire blocking device is arranged on the conveying roller and adjacent to the first detection sensor, and when the steel wire blocking device is in a closed state, the steel wire output from the laying machine is controlled to be temporarily retained on the conveying roller; and when the steel wire blocking device is in an open state, the temporarily retained steel wire is controlled to continue to be transmitted forward on the conveying roller; The second detection sensor is arranged on both sides of the conveying roller, and is used to monitor the movement status of the steel wire transmitted from the steel wire blocking device. After determining that the steel wire transmitted from the steel wire blocking device is away from the second detection sensor, the steel wire blocking device is triggered to switch from the closed state to the open state.

[0007] Optionally, the steel wire blocking device includes two oppositely disposed blocking plates, both of which are disposed on the conveying roller; when the steel wire blocking device is in a closed state, the two blocking plates are closed; when the steel wire blocking device is in an open state, the two blocking plates are open.

[0008] Optionally, the two blocking plates are vertically arranged on the conveying roller, or are obliquely arranged on the conveying roller.

[0009] Optionally, the first detection sensor is a grating sensor, and the second detection sensor is a laser beam sensor.

[0010] Optionally, the visual detection module includes: A bracket, the bracket is arranged on the side of the conveying roller and is located at a second position in the forward direction of the conveying roller; A camera is arranged on the bracket and is used to collect images of the steel wire transmitted from the steel wire anti-accumulation module, identify the tail of the steel wire and determine the position coordinates of the tail of the steel wire.

[0011] Optionally, the camera is a 2D area array camera.

[0012] Optionally, the robot sampling module comprises: A moving track, the moving track is arranged on the side of the conveying roller and is parallel to the conveying roller; A mechanical arm, wherein the mechanical arm is arranged on the slide rail; An end effector, arranged on the mechanical arm, for performing the actions of grabbing, cutting and recovering the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module; The spline stacking box is arranged at one side of the moving track and is used to collect the steel wire splines obtained after the end actuator performs the shearing action.

[0013] Optionally, the end effector comprises: A grasping mechanism, used for grasping the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module; A shearing mechanism, disposed below the gripping mechanism, for performing a shearing action on the tail of the steel wire; The grabbing mechanism is also used to place the obtained wire splines into the spline stacking box after the shearing mechanism completes the shearing action.

[0014] Another aspect of the present invention provides a method for sampling a steel wire tail based on the steel wire tail sampling system, the method comprising: Control the steel wire anti-accumulation module to separate the front and rear rolls of steel wire output from the laying machine on the conveyor roller; Controlling the visual inspection module to collect the image of the steel wire transmitted from the steel wire anti-accumulation module, identifying the tail of the steel wire and determining the position coordinates of the tail of the steel wire; The robot sampling module is controlled to perform the grabbing, cutting and recycling actions of the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module.

[0015] The wire tail sampling system and wire tail sampling method provided by the present invention effectively separate the front and rear rolls of the wire through the wire anti-accumulation module, then use the image processing technology based on the visual detection module to identify the tail of the wire, and use the robot sampling module to automatically grab, cut and recycle the wire spline, which not only has high sampling efficiency but also effectively provides operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0017] Figure 1 This is one of the schematic diagrams of the steel wire tail sampling system provided in an embodiment of the present invention.

[0018] Figure 2 The second schematic diagram of the wire tail sampling system provided in the embodiment of the present invention.

[0019] Figure 3 One of the flow charts of the wire tail sampling method provided in the embodiment of the present invention.

[0020] Figure 4 The second schematic flow chart of the wire tail sampling method provided in the embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. 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.

[0022] Figure 1 One of the schematic diagrams of the wire tail sampling system provided in the embodiment of the present invention, Figure 2 The second schematic diagram of the wire tail sampling system provided by the embodiment of the present invention is as follows: Figure 1 and Figure 2 As shown, in the steel wire production industrial process, after the steel wire 1 is output from the spinning machine 2, it falls on the conveyor roller 3. The conveyor roller 3 conveys the steel wire 1 to the subsequent production node at an adjustable program-set transport speed V. The system provided by the embodiment of the present invention includes a steel wire anti-accumulation module 4, a visual inspection module 5 and a robot sampling module 6. It can be known that the system can communicate with the original steel wire production and transportation system. For example, the system can obtain information such as the transport speed V of the conveyor roller 3 through communication.

[0023] Specifically, the steel wire anti-accumulation module 4 is arranged at the first position adjacent to the spinning machine 2 on the conveying roller 3, and is used to separate the front and rear two rolls of steel wire output from the spinning machine 2. It is known that the steel wire output from the spinning machine 2 is in rolls. In order to easily distinguish each roll of steel wire and quickly locate the tail of the steel wire, the front and rear two rolls of steel wire need to be separated in space. The steel wire anti-accumulation module 4 provided in the embodiment of the present invention can achieve this purpose. For example, since the front and rear two rolls of steel wire output by the spinning machine 2 are continuously output, if they are not effectively isolated, the tail of the previous roll of steel wire and the head of the next roll of steel wire will be continuous in space and difficult to distinguish. Therefore, in the steel wire tail sampling system provided by the embodiment of the present invention, by providing the steel wire anti-accumulation module 4 at the first position adjacent to the spinning machine 2, by controlling the opening and closing of the steel wire anti-accumulation module 4, the front and rear two rolls of steel wire can be separated in space.

[0024] Specifically, when the steel wire anti-accumulation module 4 is in the closed state, the steel wire will not be able to move forward with the conveying roller 3 due to the obstruction of the steel wire anti-accumulation module 4, but will be temporarily blocked between the wire laying machine 2 and the steel wire anti-accumulation module 4. At this stage, the previous roll of steel wire output by the wire laying machine 2 will move forward with the conveying roller 3, thereby effectively separating the front and rear rolls of steel wire. After waiting for the previous roll of steel wire to be transported forward for a distance via the conveying roller 3, the system can control the steel wire anti-accumulation module 4 to open. When the steel wire anti-accumulation module 4 is in the open state, the next roll of steel wire that was temporarily blocked between the wire laying machine 2 and the steel wire anti-accumulation module 4 will move forward with the conveying roller 3. The interval time between closing and opening the steel wire anti-accumulation module 4 can be set based on factors such as the transportation speed V of the conveying roller 3 and the duration of each roll of steel wire output from the wire laying machine 2. As long as the steel wire anti-accumulation module 4 can be controlled in different working states, the purpose of separating the front and rear rolls of steel wire can be achieved. Furthermore, the specific structure of the steel wire anti-accumulation module 4 can also be designed in various ways based on this purpose.

[0025] After the front and rear coils of steel wire are separated by the steel wire anti-accumulation module 4, in order to sample the tail of the steel wire, the system detects the tail coil of steel wire and locates the grabbing position by image processing. Specifically, the system includes a visual detection module 5 to collect, identify and locate images. The visual detection module 5 is arranged on the side of the conveyor roller 3 and at the second position in the forward direction of the conveyor roller 3, and is used to collect the image of the steel wire transmitted from the steel wire anti-accumulation module 4, identify the tail of the steel wire and determine the position coordinates of the tail of the steel wire.

[0026] The visual inspection module 5 may include a 2D array camera or a binocular camera, and the image of the steel wire is collected based on the above-mentioned camera. The visual inspection module 5 can collect images after the steel wire anti-accumulation module 4 sends an instruction. After the steel wire anti-accumulation module 4 successfully blocks the last roll of steel wire and detects that the previous roll of steel wire has moved forward a certain distance along the conveyor roller 3, a trigger instruction can be sent to the visual inspection module 5. After receiving the trigger instruction, the visual inspection module 5 starts the image collection, recognition and positioning. The camera can take multiple images continuously, and based on the mature image recognition technology in the prior art, such as the image recognition technology based on the large model, recognize any one of the images including the tail of the steel wire to be collected, and locate the tail of the steel wire based on the prior art, for example, the position coordinates of the tail of the steel wire can be calculated. It can be known that the coordinate system can be set based on the production environment of the steel wire.

[0027] After the visual inspection module 5 successfully identifies and locates the tail of the steel wire, the calculated position coordinates of the tail of the steel wire are sent to the robot sampling module 6. The robot sampling module 6 is arranged on the side of the conveyor roller 3 and at a third position in the forward direction of the conveyor roller 3, and is used to perform the grabbing, cutting and recycling actions of the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual inspection module 5.

[0028] Specifically, the robot sampling module 6 determines the grabbing position of the steel wire tail under the guidance of the position coordinates of the steel wire tail by the robot arm. The robot arm of the robot sampling module 6 can move in the same direction and speed as the conveyor roller 3. Therefore, after obtaining the position coordinates of the steel wire tail, it can keep moving in the same direction and speed as the conveyor roller 3 under the control of the program and successfully grab the steel wire tail. After grabbing the steel wire tail 12, the tail is shifted to the shearing structure. After the shearing mechanism shortens the steel wire tail 12, the obtained steel wire spline is sent to the designated position for recycling. The rest of the steel wire can be mechanically conveyed forward with the conveyor roller 3.

[0029] The wire tail sampling system provided by the embodiment of the present invention effectively separates the front and rear rolls of wire through the wire anti-accumulation module, then uses image processing technology based on the visual detection module to identify the tail of the wire, and uses the robot sampling module to automatically grab, cut and recycle the wire spline. It not only has high sampling efficiency but also effectively provides operation safety.

[0030] Optionally, the steel wire anti-accumulation module 4 includes a first detection sensor 41, a steel wire blocking device 42 and a second detection sensor 43, wherein: The first detection sensor 41 is arranged on both sides of the conveying roller 3 and close to the outlet of the spinning machine 2, and is used to detect whether the spinning machine 2 has any steel wire output; the steel wire blocking device 42 is arranged on the conveying roller 3 and close to the first detection sensor 41. When the steel wire blocking device 42 is in the closed state, the steel wire output from the spinning machine 2 is controlled to be temporarily retained on the conveying roller 3; and when the steel wire blocking device 42 is in the open state, the temporarily retained steel wire is controlled to continue to be transmitted forward on the conveying roller 3. The second detection sensor 43 is arranged on both sides of the conveying roller 3, and is used to monitor the moving state of the steel wire transmitted from the steel wire blocking device 42. After determining that the steel wire transmitted from the steel wire blocking device 42 is away from the second detection sensor 43, the steel wire blocking device 42 is triggered to switch from the closed state to the open state. Among them, the first detection sensor 41 can be a grating sensor, and the second detection sensor 43 can be a laser beam sensor.

[0031] Optionally, the steel wire blocking device 42 provided in the embodiment of the present invention may include two oppositely arranged blocking plates, both of which are arranged on the conveying roller. When the steel wire blocking device is in a closed state, the two blocking plates are closed; when the steel wire blocking device is in an open state, the two blocking plates are open. Specifically, as shown in the figure, the two oppositely arranged blocking plates are similar to two large doors. When the two large doors are closed, the steel wire blocking device 42 is in a closed state, and the steel wire output by the spinning machine 2 cannot move forward with the conveying roller 3 due to being blocked, and is temporarily blocked between the spinning machine 2 and the steel wire anti-accumulation module 4. When the two large doors are opened, the steel wire blocking device 42 is in an open state, and the steel wire that was previously temporarily blocked between the spinning machine 2 and the steel wire anti-accumulation module 4 is no longer blocked, and can move forward with the conveying roller 3.

[0032] Furthermore, the two blocking plates of the steel wire blocking device 42 can be vertically arranged on the conveying roller 3, or can be obliquely arranged on the conveying roller 3, as long as the task of blocking the advancement of the steel wire can be accomplished.

[0033] In the above embodiment, the visual inspection module 5 may include a bracket 51 and a camera 52. The bracket 51 is arranged on the side of the conveyor roller 3 and is located at the second position in the forward direction of the conveyor roller 3; the camera 52 is arranged on the bracket 51, and is used to collect the image of the steel wire transmitted from the steel wire anti-accumulation module 4, identify the tail of the steel wire and determine the position coordinates of the tail of the steel wire. In this embodiment, the camera can be a 2D array camera.

[0034] Specifically, the bracket 51 of the visual inspection module 5 is set at the second position, and can collect the image of the steel wire moving along with the conveyor roller 3. The camera 52 is set on the bracket 51. In order to avoid the influence of heat radiation directly above the steel wire, the camera 52 can collect the image of the steel wire from the oblique side of the production line.

[0035] In the above embodiment, the robot sampling module 6 may include a moving track 61, a robot arm 62, an end effector 63 and a spline stacking box 64, wherein: The movable track 61 is arranged on the side of the conveying roller 3 and is parallel to the conveying roller 3. The mechanical arm 62 is arranged on the slide rail 61. Since the movable track 61 is arranged in parallel with the conveying roller 3, the mechanical arm 62 on the movable track 61 can move synchronously with the conveying roller 3, so that the end actuator 63 can perform the steel wire grabbing action. The end actuator 63 is arranged on the mechanical arm 62, and is used to perform the grabbing, cutting and recycling actions of the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual inspection module 5; the spline stacking box 64 is arranged on one side of the movable track 61, and is used to collect the steel wire splines 11 obtained after the end actuator 63 performs the shearing action. After receiving the position coordinates of the tail of the steel wire transmitted by the visual inspection module 5, the end actuator 63 can control the robot arm 62 to move forward on the moving track 61 at the same rate based on the running speed of the conveyor roller 3, and obtain the real-time coordinates of the tail of the steel wire 12 through calculation based on the execution time of the grasping action and the position coordinates of the tail of the steel wire, and control the end actuator 63 to perform the steel wire grasping action. After successfully grasping the tail of the steel wire 12, the end actuator 63 performs the tail shearing action to obtain the steel wire spline 11, and places the steel wire spline 11 in the spline stacking box 64 to complete the recycling action.

[0036] Furthermore, the end actuator 63 includes a grabbing mechanism 631 and a shearing mechanism 632, wherein the grabbing mechanism 631 is used to perform a grabbing action on the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module 5; the shearing mechanism 632 is arranged below the grabbing mechanism 631 and is used to perform a shearing action on the tail of the steel wire. The grabbing mechanism 631 is also used to place the obtained steel wire spline 11 into the spline stacking box 64 after the shearing mechanism 632 performs the shearing action. The shearing mechanism 632 can control the shearing of the steel wire spline 11 of a suitable length under program control. After the shearing mechanism 632 shears the steel wire spline 11, the grabbing mechanism 631 puts the steel wire roll back onto the conveying roller 3, and conveys it forward to the subsequent node along with the conveying roller 3.

[0037] Figure 3 One of the flow charts of the wire tail sampling method provided in the embodiment of the present invention is as follows: Figure 3 As shown, the wire tail sampling method comprises: Step 300, controlling the steel wire anti-accumulation module to separate the front and rear rolls of steel wire output from the laying machine on the conveying roller; Step 301, controlling the visual inspection module to collect the image of the steel wire transmitted from the steel wire anti-accumulation module, identifying the tail of the steel wire and determining the position coordinates of the tail of the steel wire; Step 302: Control the robot sampling module to perform the actions of grabbing, cutting and recovering the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module.

[0038] The method for sampling the tail of a steel wire provided by the present invention effectively separates the front and rear rolls of the steel wire through a steel wire anti-accumulation module, then uses image processing technology based on a visual detection module to identify the tail of the steel wire, and uses a robot sampling module to automatically grab, cut and recycle the steel wire spline. This method not only has high sampling efficiency, but also effectively provides operational safety.

[0039] Figure 4 The second flow chart of the wire tail sampling method provided by the embodiment of the present invention is as follows: Figure 4 As shown, the wire tail sampling method comprises: Step 400, spinning state detection: when the spinning machine spits out steel wire, the steel wire will block the laser line of the front grating sensor and continuously output a high-level signal; when the spinning ends, no laser line is blocked and a low-level signal is output; 401. Wire blocking and anti-accumulation: When the system detects that the grating outputs a low-level signal, it controls the blocking plate of the wire blocking device to open a certain angle, and uses the blocking effect of the vertical slope to interfere with the fall of the next roll of wire, increase the space distance from the previous roll of wire, and ensure the spacing of the wire rolls; 402. Wire movement status detection: When the laser beam sensor detects a low-level signal, it means that the tail of the previous roll of wire has moved a certain distance, the system retracts the blocking device and is about to open the blocking device, and the wire falls onto the conveyor roller according to the normal trajectory and continues to flow; 403. Tail positioning detection: When the laser sensor is at a low level, the camera in the visual detection module is turned on to collect the wire image. After preprocessing and segmentation, the tail circle of wire and the appropriate clamping position are located, and the detection result is converted into coordinates and sent to the robot grasping module; 404. Wire grabbing: After receiving the coordinate data, the mobile track moves synchronously, controls the end actuator to adjust the posture, grabs the wire according to the converted coordinates, clamps and lifts it using the cam spring mechanism, and moves it to the side cutting position; 405. Wire cutting: Move the wire to the side and cut it using the end shear mechanism; The shearing mechanism adjusts its posture, the steel wire enters the cutting position, the cutting knife moves, and returns to its original position after cutting the steel wire.

[0040] 406. Lofting: Move the wire spline to the top of the inclined platform of the side spline stacking box and release the spline; After cutting, the grabbing mechanism moves to the top of the inclined platform, releases the spline, and uses gravity to slide down the inclined surface to the stacking box; the stacking box can be towed.

[0041] 407. Return: Each mechanism returns to its initial position and waits for the next action.

[0042] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0043] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A wire tail sampling system, characterized in that: The system includes a wire anti-accumulation module, a visual inspection module and a robot sampling module; Wherein, the steel wire anti-accumulation module is arranged at a first position on the conveying roller table adjacent to the laying head, and is used to separate the front and rear rolls of steel wire outputted from the laying head; The visual inspection module is arranged on the side of the conveying roller and at a second position in the forward direction of the conveying roller, and is used to collect the image of the steel wire transmitted from the steel wire anti-accumulation module, identify the tail of the steel wire and determine the position coordinates of the tail of the steel wire; The robot sampling module is arranged on the side of the conveying roller and is located at a third position in the forward direction of the conveying roller. It is used to perform grasping, cutting and recovery actions on the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual inspection module.

2. The wire tail sampling system according to claim 1, characterized in that: The steel wire anti-accumulation module comprises: A first detection sensor is arranged on both sides of the conveying roller and close to the outlet of the laying machine, and is used to detect whether the laying machine has steel wire output; A steel wire blocking device is arranged on the conveying roller and adjacent to the first detection sensor, and when the steel wire blocking device is in a closed state, the steel wire output from the laying machine is controlled to be temporarily retained on the conveying roller; and when the steel wire blocking device is in an open state, the temporarily retained steel wire is controlled to continue to be transmitted forward on the conveying roller; The second detection sensor is arranged on both sides of the conveying roller, and is used to monitor the movement status of the steel wire transmitted from the steel wire blocking device. After determining that the steel wire transmitted from the steel wire blocking device is away from the second detection sensor, the steel wire blocking device is triggered to switch from the closed state to the open state.

3. The wire tail sampling system according to claim 2, characterized in that: The steel wire blocking device comprises two blocking plates arranged opposite to each other, both of which are arranged on the conveying roller; when the steel wire blocking device is in a closed state, the two blocking plates are closed; When the steel wire blocking device is in the open state, the two blocking plates are opened.

4. The wire tail sampling system according to claim 3, characterized in that: The two blocking plates are vertically arranged on the conveying roller, or are obliquely arranged on the conveying roller.

5. The wire tail sampling system according to claim 2, 3 or 4, characterized in that: The first detection sensor is a grating sensor, and the second detection sensor is a laser beam sensor.

6. The wire tail sampling system according to claim 1, characterized in that: The visual inspection module comprises: A bracket, the bracket is arranged on the side of the conveying roller and is located at a second position in the forward direction of the conveying roller; A camera is arranged on the bracket and is used to collect images of the steel wire transmitted from the steel wire anti-accumulation module, identify the tail of the steel wire and determine the position coordinates of the tail of the steel wire.

7. The wire tail sampling system according to claim 6, characterized in that: The camera is a 2D array camera.

8. The wire tail sampling system according to claim 1, characterized in that: The robot sampling module comprises: A moving track, the moving track is arranged on the side of the conveying roller and is parallel to the conveying roller; A mechanical arm, wherein the mechanical arm is arranged on the slide rail; An end effector, arranged on the mechanical arm, for performing the actions of grabbing, cutting and recovering the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module; The spline stacking box is arranged at one side of the moving track and is used to collect the steel wire splines obtained after the end actuator performs the shearing action.

9. The wire tail sampling system according to claim 8, characterized in that: The end effector comprises: A grasping mechanism, used for grasping the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module; A shearing mechanism, disposed below the gripping mechanism, for performing a shearing action on the tail of the steel wire; The grabbing mechanism is also used to place the obtained wire splines into the spline stacking box after the shearing mechanism completes the shearing action.

10. A method for sampling a steel wire tail based on the steel wire tail sampling system according to any one of claims 1 to 9, characterized in that: The method comprises: Control the steel wire anti-accumulation module to separate the front and rear rolls of steel wire output from the laying machine on the conveyor roller; Controlling the visual inspection module to collect the image of the steel wire transmitted from the steel wire anti-accumulation module, identifying the tail of the steel wire and determining the position coordinates of the tail of the steel wire; The robot sampling module is controlled to perform the grabbing, cutting and recycling actions of the tail of the steel wire based on the position coordinates of the tail of the steel wire transmitted by the visual detection module.

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