Sock seam allowance positioning method based on intelligent vision and expansion mechanism applied by sock seam allowance positioning method

Abstract

The invention relates to the technical field of electromechanics, in particular to a sock seam allowance positioning method based on intelligent vision and an expansion mechanism applied thereof.The sock seam allowance positioning method based on intelligent vision comprises the following steps that S1, a sock is transferred into a preset sock expansion station, the sock is ejected open and inserted in the sock expansion station through the expansion mechanism, and the sock is inserted into the expansion mechanism; the expansion part of the expansion mechanism is expanded to completely open the socks; s2, completely turning out the different-color card material belt at the upper edge of the sewing line of the sock seam allowance by utilizing friction force; s3, positioning two symmetrical cross points of a sewing line and a sock toe closing line, closing up the different-color card material belt, and straightening the sewing line of the sock; s4, feeding is conducted, specifically, the socks are moved, so that sewing threads of the socks are clamped into clamping grooves; and S5, judging whether the different-color card material belt on the sewing line is completely arranged on the clamping groove or not and is kept flat or not. The sock processing device is high in automation degree, good in positioning effect, suitable for processing various types of socks and wide in application range.

Description

Technical Field

[0001] The invention relates to the field of electromechanical technology, and in particular to a sock seam positioning method based on intelligent vision and an expansion mechanism used therein. Background Art

[0002] Socks are a kind of clothing worn on the feet, which plays the role of protecting the feet, health care and beautiful decoration. Socks need to go through operations such as knitting, sewing, dyeing and shaping during production. The current sock processing mechanism has an integrated knitting machine, which is widely used in large-scale production. It can realize fully automatic sock tube knitting, sock toe sewing and other sock processing work. It has a high degree of automation and can greatly reduce the investment of labor costs. However, the initial investment of the integrated knitting machine is relatively high, and it is suitable for large and medium-sized sock factories to mass produce socks. Therefore, small sock factories generally use independent knitting machines and sewing machines, which have low purchase costs and less pressure on manual training. The transfer of socks between the knitting machine and the sewing machine is generally manual loading and unloading, but the efficiency of this loading and unloading method is low. In order to improve efficiency, a sock conveyor and an integrated knitting and sewing sock turning machine disclosed in a Chinese patent (publication number: CN1144814) are disclosed. 30A), in this patent technology, a sock conveyor is installed between a sock knitting machine and a sock sewing machine, and includes a moving component, a clamping component and a driving component supported by a bracket. The clamping component is driven by the moving component and can move between a close position and a far position relative to the sock feeding path; the clamping component is used to clamp the socks at the sock feeding path at a close position; the driving component is linked with the clamping component to drive the clamping component to move to remove the clamped socks from the sock knitting machine, and can assist in conveying the socks between the sock knitting machine and the sock sewing machine, and can improve the smoothness of the sock transfer. However, in actual use, the sock conveyor can only transfer light and thin socks that can be smoothly sucked by the sock suction tube. For socks with slightly thicker thickness, the loading and unloading of socks cannot be well realized, and the detection of the sock seam head cannot be performed. The sock seam head positioning effect is poor, which easily leads to a decrease in the quality and yield of the finished product, and the economic benefit is low. Summary of the invention

[0003] The technical problem to be solved by the present invention is that the existing sock processing method cannot well realize the positioning of the sock seam, cannot perform the detection work of the sock seam, and the sock seam positioning effect is poor, which easily leads to the decline of finished product quality and yield rate, and low economic benefits.

[0004] In order to solve the above technical problems, the first aspect of the present invention adopts the following technical solution: a sock seam positioning method based on intelligent vision, comprising the following steps: S1: grab the positions of both sides of the sock opening of the sock to be processed, squeeze the sock opening to open it for the preset expansion mechanism to insert, transfer the sock to the preset sock expansion station, push the sock open and insert it in the sock expansion station by the expansion mechanism, and when the expansion part of the expansion mechanism overlaps with the sewing line of the sock, the expansion part of the expansion mechanism expands to fully open the sock; S2: Move the socks and use friction to completely turn outward the different-colored card band at the upper edge of the seam of the socks; S3: Locate the two symmetrical intersections of the suture line and the sock toe closing line by means of intelligent visual recognition, grab the heterochromatic card material belt at the upper edge of the suture line at the two intersections by means of the preset first and second jaws, grab the two parts of the heterochromatic card material belt at the middle of the two intersections by means of the preset third and fourth jaws, grab the lower part of the suture line close to the intersection of the preset intelligent visual analysis mechanism by means of the preset fifth jaw, control the expansion part of the expansion mechanism to contract, withdraw the socks and reset, stretch the heterochromatic card material belt of the socks from the two intersections to the widest position by means of the first and second jaws, bring the third and fourth jaws together at the same time, bring the heterochromatic card material belt together, so as to straighten the suture line of the socks, and keep the horizontal movement of the fifth jaw synchronous with the first jaw or the second jaw; S4: Loading, aligning the stitching line of the socks with the preset positioning slot of the positioning device of the sewing machine through 3D intelligent analysis, and moving the socks so that the stitching line of the socks is locked into the positioning slot; S5: The intelligent camera preset by the intelligent visual analysis mechanism determines whether the different-colored card belt on the upper edge of the suture line is completely on the card slot and remains flat. If it is qualified, the loading is completed. Otherwise, it is abandoned to ensure the yield of finished products.

[0005] When the present invention is working, it can realize a series of tasks such as grabbing and expanding socks, completely everting the heterochromatic card belt, positioning grabbing and stretching the heterochromatic card belt, and detecting the integrity and flatness of the heterochromatic card belt and the suture line based on intelligent vision. It has a high degree of automation and good positioning effect. It replaces traditional manual or mechanical loading and unloading by means of intelligent vision, greatly reducing the investment in labor costs and equipment costs. It is suitable for processing and using various types of socks, has a wide range of applications, good versatility, and is easy to use. It can reduce the training cost of operators to a certain extent and improve economic benefits.

[0006] Preferably, in step S1, the positions on both sides of the sock opening of the sock to be processed are grasped, the sock opening is squeezed to open so that the preset expansion mechanism can be inserted, and the sock is transferred to the preset sock expansion station. The sock is pushed open and inserted in the sock expansion station by the expansion mechanism. When the expansion part of the expansion mechanism overlaps with the suture line of the sock, the expansion part of the expansion mechanism expands to fully open the sock, and the following steps are adopted to invert the sock so that the sock opening faces upward, grasp the sock to be processed, and then press the sock opening to open. The worker locates the positions on both sides of the sock opening of the sock, squeezes the sock opening to open it for the insertion of the preset expanding mechanism, and transfers the sock to the preset sock expanding station, where the sock is pushed open and inserted by the expanding mechanism, and when the expanding part of the expanding mechanism overlaps with the sewing line of the sock, the expanding part of the expanding mechanism is expanded to fully open the sock, so that the sock expands, and after the sock rubs against the expanding part of the expanding mechanism, the expanding mechanism is turned over together with the sock, so that the seam head of the sock faces upward.

[0007] Preferably, the step S1 further includes the following steps: judging whether the sock opening is open by an intelligent visual recognition method, and discarding the sock when it is not open.

[0008] Preferably, in step S2, when the socks are moved and the different-colored carding band at the upper edge of the seam of the socks is completely turned outward by using friction, the following steps are adopted: the socks are moved, and as the socks move, the different-colored carding band rolled up at the upper edge of the seam of the socks is gradually turned out by using friction until it is completely turned outward.

[0009] Preferably, the step S3 further includes the following steps: judging whether the heterochromatic card strip at the upper edge of the seam line of the socks is completely turned out by an intelligent visual recognition method; if the heterochromatic card strip is not completely turned out, the socks are discarded.

[0010] Preferably, the step S3 further includes the following steps: judging whether the stitching lines of the socks and the different-color carding tapes form a flat ring shape that is closed together by an intelligent visual recognition method; if the stitching lines and the different-color carding tapes of the socks are not successfully grasped or the flat ring shape that is closed together is not formed, the socks are abandoned.

[0011] In order to solve the above-mentioned technical problems, the second aspect of the present invention adopts the following technical solutions: an expansion mechanism, applying the above-mentioned intelligent vision-based sock seam positioning method, the expansion mechanism includes an expansion rod, an expansion connecting rod group, an expansion transmission part and an expansion drive device, the expansion transmission part is movably limited and installed on the expansion rod along the axial direction of the expansion rod, the expansion connecting rod group is provided with a plurality of and is arranged around the circumferential direction of the expansion rod, the expansion connecting rod group is transmission-connected to the output part of the expansion drive device through the expansion transmission part, and the outside of the plurality of expansion connecting rod groups moves away from or close to the expansion rod when the expansion drive device is actuated.

[0012] When the present invention is working, an expansion drive device is used to drive a plurality of expansion connecting rod groups to move through an expansion transmission part, so that the outsides of the plurality of expansion connecting rod groups can be moved away from or close to the expansion rod, thereby realizing a change in the size of the expansion part of the expansion mechanism, and at the same time, it is convenient to adjust the range of size change. The present invention is suitable for the expansion work of socks of different specifications, has strong versatility, simple and reliable structure, and long service life.

[0013] Preferably, the expansion link group is provided with a first expansion link, a second expansion link, a third expansion link and a fourth expansion link, the head end of the first expansion link is rotatably mounted on the head end of the expansion rod, the head end of the second expansion link and the head end of the fourth expansion link are both rotationally connected to the tail end of the first expansion link, the head end of the third expansion link is rotationally connected to the tail end of the second expansion link, the third expansion link and the fourth expansion link remain parallel and are rotationally connected to the expansion transmission part respectively, the second expansion link is arranged to extend along the axial direction of the expansion rod and remain parallel to the axial direction of the expansion rod, and the second expansion link moves away from or approaches the expansion rod when the expansion drive device is actuated.

[0014] Preferably, the head end of the expansion rod is provided with a mushroom-shaped head for pushing open the sock opening of the sock.

[0015] Preferably, the outer cover of the expansion mechanism is provided with a replaceable protective layer for isolating the expansion mechanism and the socks.

[0016] The beneficial technical effects of the present invention include: 1. The present invention can realize a series of tasks such as grabbing and expanding socks, completely everting heterochromatic card strips, positioning grabbing and stretching of heterochromatic card strips, and detecting the integrity and flatness of heterochromatic card strips and sutures based on intelligent vision. It has a high degree of automation and good positioning effect. It replaces traditional manual or mechanical loading and unloading by intelligent vision, greatly reducing the investment in labor costs and equipment costs. It is suitable for processing and use of various types of socks, has a wide range of applications, good versatility, and is easy to use. It can reduce the training cost of operators to a certain extent and improve economic benefits.

[0017] 2. The present invention adopts an expansion drive device to drive several expansion connecting rod groups through the expansion transmission part, which can realize the outside of several expansion connecting rod groups to move away from or close to the expansion rod, thereby realizing the change of the size of the expansion part of the expansion mechanism. At the same time, it is convenient to adjust the range of size change. It is suitable for the expansion work of socks of different specifications, has strong versatility, simple structure, reliability, and long service life.

[0018] Other features and advantages of the present invention will be disclosed in detail in the following specific embodiments and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings: Figure 1 This is a workflow diagram of the sock seam positioning method based on intelligent vision; Figure 2 It is a structural schematic diagram of an expansion mechanism (protective layer is hidden); Figure 3 for Figure 2 A partial enlarged view of the middle A; Figure 4 This is a schematic diagram of the structure of socks; Figure 5 It is a working state of an expansion mechanism Figure 1 (The different-colored card straps of the socks are not turned out); Figure 6 It is a working state of an expansion mechanism Figure 2 (The different colored card straps of the socks are completely turned out). DETAILED DESCRIPTION

[0020] The technical solutions of the embodiments of the present invention are explained and described below in conjunction with the drawings of the embodiments of the present invention, but the following embodiments are only preferred embodiments of the present invention, not all. Based on the embodiments in the implementation mode, other embodiments obtained by those skilled in the art without creative work are all within the protection scope of the present invention.

[0021] In the following description, terms such as "inside", "outside", "up", "down", "left", "right", etc. that indicate directions or positional relationships are only used to facilitate the description of the embodiments and simplify the description, and do not indicate or imply that the referred device or element must have a specific direction, be constructed and operate in a specific direction. Therefore, it should not be understood as a limitation of the present invention. Embodiment 1:

[0022] See also Figure 1 This embodiment discloses a sock seam positioning method based on intelligent vision, comprising the following steps: S1: grab the positions on both sides of the sock opening 51 of the sock to be processed, squeeze the sock opening 51 to open it for the preset expansion mechanism to be inserted, transfer the sock to the preset sock expansion station, push the sock open and insert it in the sock expansion station by the expansion mechanism, and when the expansion part of the expansion mechanism overlaps with the suture line 53 of the sock, the expansion part of the expansion mechanism expands to fully open the sock; S2: Move the socks and use friction to completely turn outward the different-color card strip 55 at the upper edge of the seam line 53 of the seam head 52 of the socks; S3: Locate the two symmetrical intersections of the suture line 53 and the sock toe closing line 54 by means of intelligent visual recognition, grab the heterochromatic card material belt 55 at the upper edge of the suture line 53 at the two intersections by means of the preset first and second jaws, grab the two parts of the heterochromatic card material belt 55 at the middle of the two intersections by means of the preset third and fourth jaws, grab the lower part of the suture line 53 near the intersection of the preset intelligent visual analysis mechanism by means of the preset fifth jaw, control the expansion part of the expansion mechanism to contract, withdraw the socks and reset, stretch the heterochromatic card material belt 55 of the socks from the two intersections to the widest position by means of the first and second jaws, bring the third and fourth jaws together at the same time, bring the heterochromatic card material belt 55 together, so as to straighten the suture line 53 of the socks, and keep the horizontal movement of the fifth jaw synchronous with the first jaw or the second jaw; S4: loading, aligning the stitching line 53 of the socks with the preset positioning slot of the positioning device of the sewing machine through 3D intelligent analysis, and moving the socks so that the stitching line 53 of the socks is locked into the positioning slot; S5: The intelligent camera preset by the intelligent visual analysis mechanism determines whether the upper edge of the stitching line 53 of the heterochromatic card belt 55 is completely on the card slot and remains flat. If it is qualified, the loading is completed. Otherwise, it is abandoned to ensure the yield of finished products.

[0023] When the present embodiment is working, it can realize a series of tasks such as grabbing and expanding the socks, completely turning out the different-color card belt 55, positioning grabbing and stretching the different-color card belt 55, and detecting the integrity and flatness of the different-color card belt 55 and the suture line 53 based on intelligent vision. It has a high degree of automation and good positioning effect. It replaces traditional manual or mechanical loading and unloading by intelligent vision, greatly reducing the investment in labor costs and equipment costs. It is suitable for processing and using various types of socks, has a wide range of applications, good versatility, and is easy to use. It can reduce the training cost of operators to a certain extent and improve economic benefits.

[0024] In the specific implementation, in step S1, the positions on both sides of the sock opening 51 of the sock to be processed are grasped, the sock opening 51 is squeezed to open so that the preset expansion mechanism can be inserted, and the sock is transferred to the preset sock expansion station. In the sock expansion station, the sock is pushed open and inserted by the expansion mechanism. When the expansion part of the expansion mechanism overlaps with the suture line 53 of the sock, the expansion part of the expansion mechanism is expanded to fully open the sock. The following steps are adopted to invert the sock so that the sock opening 51 of the sock faces upward, and the sock to be processed is grasped. The worker locates the positions on both sides of the sock opening 51 of the sock, squeezes the sock opening 51 to open it for the insertion of the preset expanding mechanism, and transfers the sock to the preset sock expanding station, where the sock is pushed open and inserted by the expanding mechanism, and when the expanding part of the expanding mechanism overlaps with the seam line 53 of the sock, the expanding part of the expanding mechanism is expanded to fully open the sock, so that the sock expands, and after the sock rubs against the expanding part of the expanding mechanism, the expanding mechanism is turned over together with the sock, so that the seam head 52 of the sock faces upward.

[0025] Preferably, the socks can be transported by a material transfer mechanism such as a conveyor belt, turned upside down and the position of the sock opening 51 is exposed. At this time, the two ends of the flat sock opening 51 can be clamped by a clamping mechanism, and the sock opening 51 can be opened by squeezing. Of course, the sock bodies on both sides of the middle of the sock opening 51 can also be clamped by the clamping mechanism, and the sock opening 51 can also be opened by stretching. The expansion mechanism is inserted through the sock opening 51. When the expansion part of the expansion mechanism overlaps with the suture line 53 of the sock, the expansion part of the expansion mechanism expands to fully open the sock, so that the sock expands. At this time, the sock is in close contact with the expansion mechanism, which is convenient for the subsequent turning out of the different-color card belt 55 by friction. Please refer to Figure 4 and Figure 5 After the socks are knitted and cut, the different-color card band 55 at the upper edge of the seam line 53 will curl due to the knitting process or other factors, which is not conducive to the subsequent sewing of the seam head 52. The socks are in close contact with the expansion mechanism and the socks are pulled so that the curled different-color card band 55 can be completely turned out by friction, which is convenient for subsequent grabbing and sewing.

[0026] In the specific implementation, in step S1, the following steps are also included: judging whether the sock opening 51 is open by intelligent visual recognition method, when it is not open, abandoning the sock and making it fall back into the material box for the next grabbing or manual loading.

[0027] Preferably, in step S2, the socks are moved, and the different-colored card band 55 at the upper edge of the seam 53 of the sock seam 52 is completely turned outward by using friction, and the following steps are adopted to move the socks, and as the socks move, the different-colored card band 55 rolled up at the upper edge of the seam 53 of the sock seam 52 is gradually turned out by using friction until it is completely turned outward. In specific implementation, in step S3, the following steps are also included, and it is determined by an intelligent visual recognition method whether the different-colored card band 55 at the upper edge of the seam 53 of the socks is completely turned out. When the different-colored card band 55 is not completely turned out, the socks are discarded.

[0028] In this embodiment, step S3 also includes the following steps: judging whether the stitching line 53 of the socks and the different-color carding tape 55 form a flat ring shape that is closed together by an intelligent visual recognition method; if the socks are not successfully grasped or the flat ring shape is not formed, the socks are abandoned. Embodiment 2:

[0029] See also Figure 2 The present embodiment provides an expansion mechanism, which applies the sock seam positioning method based on intelligent vision as in the above-mentioned embodiment. The expansion mechanism includes an expansion rod 1, an expansion connecting rod group 2, an expansion transmission part 3 and an expansion drive device 4. The expansion transmission part 3 is movably installed on the expansion rod 1 along the axial direction of the expansion rod 1. The expansion connecting rod group 2 is provided with a plurality of expansion connecting rod groups and is arranged around the circumferential direction of the expansion rod 1. The expansion connecting rod group 2 is transmission-connected to the output part of the expansion drive device 4 through the expansion transmission part 3. The outside of the plurality of expansion connecting rod groups 2 moves away from or close to the expansion rod 1 when the expansion drive device 4 is actuated.

[0030] See also Figures 2 to 5 When the present embodiment is working, the expansion drive device 4 is used to drive the plurality of expansion connecting rod groups 2 to move through the expansion transmission part 3, so that the outside of the plurality of expansion connecting rod groups 2 can be moved away from or close to the expansion rod 1, thereby realizing the change in the size of the expansion part of the expansion mechanism, and at the same time, it is convenient to adjust the range of size change, which is suitable for the expansion work of socks of different specifications, has strong versatility, simple and reliable structure, and long service life.

[0031] Preferably, the expansion link group 2 is provided with a first expansion link 21, a second expansion link 22, a third expansion link 23 and a fourth expansion link 24, the head end of the first expansion link 21 is rotatably mounted on the head end of the expansion rod 1, the head end of the second expansion link 22 and the head end of the fourth expansion link 24 are both rotationally connected to the tail end of the first expansion link 21, the head end of the third expansion link 23 is rotationally connected to the tail end of the second expansion link 22, the third expansion link 23 and the fourth expansion link 24 remain parallel and are rotationally connected to the expansion transmission part 3 respectively, the second expansion link 22 is arranged to extend along the axial direction of the expansion rod 1 and remain parallel to the axial direction of the expansion rod 1, and the second expansion link 22 moves away from or approaches the expansion rod 1 when the expansion drive device 4 is actuated.

[0032] In a specific implementation, the expansion connecting rod assembly 2 can be replaced by any existing expansion device with adjustable size, such as an expansion airbag, an expansion swing arm assembly, etc.

[0033] Preferably, the front end of the expansion rod 1 is provided with a mushroom-shaped head 11 for pushing open the sock opening 51 of the sock.

[0034] As a further improvement of the present embodiment, the outer cover of the expansion mechanism is provided with a replaceable protective layer for isolating the expansion mechanism and the socks. In a specific implementation, the protective layer can be configured to be made of a fabric with suitable friction, such as nylon fabric, so as to ensure sufficient friction while preventing the expansion mechanism from damaging the socks. In a specific implementation, the protective layer can be fixed by any suitable fixing method, such as snap connection or bonding. For example, in the present embodiment, a fixing nut is provided at the head end of the expansion rod 1, and one end of the protective layer is fixed to the head end of the expansion rod 1 by a threaded connection. The connection is firm, and the replacement of the protective layer is convenient, thereby reducing the labor intensity of the operator.

[0035] The beneficial technical effects of this embodiment include: the present invention can realize a series of tasks such as grabbing and expanding socks, completely everting heterochromatic card strips, positioning, grabbing and stretching heterochromatic card strips, and detecting the integrity and flatness of heterochromatic card strips and sutures based on intelligent vision, with a high degree of automation and good positioning effect. It replaces traditional manual or mechanical loading and unloading by means of intelligent vision, greatly reducing the investment in labor costs and equipment costs, and is suitable for processing and use of various types of socks, with a wide range of applications, good versatility, and easy use. It can reduce the training costs of operators to a certain extent and improve economic benefits.

[0036] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Those skilled in the art should understand that the present invention includes but is not limited to the contents described in the drawings and the above specific embodiments. Any modification that does not deviate from the functional and structural principles of the present invention will be included in the scope of the claims.

Claims

1. A sock seam positioning method based on intelligent vision, characterized in that: The following steps are involved: S1: grabbing the positions on both sides of the sock opening (51) of the sock to be processed, squeezing the sock opening (51) to open so that a preset expansion mechanism can be inserted, transferring the sock to a preset sock expansion station, pushing the sock open and inserting it in the sock expansion station by the expansion mechanism, and when the expansion part of the expansion mechanism overlaps with the suture line (53) of the sock, the expansion part of the expansion mechanism expands to fully open the sock; S2: Move the socks and use friction to completely turn the different-colored carding band (55) at the upper edge of the seam line (53) of the seam head (52) of the socks inside out; S3: using an intelligent visual recognition method to locate two symmetrical intersections of the suture (53) and the sock toe closing line (54), using a preset first clamp and a second clamp to grab the heterochromatic card strip (55) at the upper edge of the suture (53) at the two intersections, and using a preset third clamp and a fourth clamp to grab two parts of the heterochromatic card strip (55) at the middle of the two intersections, and using a preset fifth clamp to grab the bottom of the suture (53) close to the intersection of the preset intelligent visual analysis mechanism, and then controlling the expansion part of the expansion mechanism to contract, withdraw the sock and reset, and stretching the heterochromatic card strip (55) of the sock from the two intersections to the widest position through the first clamp and the second clamp, and at the same time bringing the third clamp and the fourth clamp together so that the heterochromatic card strip (55) is brought together to straighten the suture (53) of the sock, and at the same time keeping the fifth clamp and the first clamp or the second clamp in horizontal motion synchronous; S4: loading, aligning the stitching line (53) of the sock with the preset positioning slot of the positioning device of the stitching machine through 3D intelligent analysis, and moving the sock so that the stitching line (53) of the sock is locked into the positioning slot; S5: The intelligent camera preset by the intelligent visual analysis mechanism determines whether the upper edge of the different-color card strip (55) of the suture line (53) is completely on the card slot and remains flat. If it is qualified, the loading is completed. Otherwise, it is abandoned to ensure the yield rate.

2. The method for locating the seam of a sock based on intelligent vision according to claim 1, characterized in that: In the step S1, the positions on both sides of the sock opening (51) of the sock to be processed are grasped, the sock opening (51) is squeezed to open so as to allow the preset expansion mechanism to be inserted, the sock is transferred to the preset sock expansion station, the sock is pushed open and inserted in the sock expansion station by the expansion mechanism, and when the expansion part of the expansion mechanism overlaps with the suture line (53) of the sock, the expansion part of the expansion mechanism is expanded to fully open the sock, and the following steps are adopted to invert the sock so that the sock opening (51) of the sock faces upward, and grasp the sock to be processed. The sock opening (51) is pressed to open for insertion of a preset expansion mechanism, and the sock is transferred to a preset sock expansion station. The sock is pushed open and inserted in the sock expansion station by the expansion mechanism. When the expansion part of the expansion mechanism overlaps with the seam line (53) of the sock, the expansion part of the expansion mechanism is expanded to fully open the sock, so that the sock expands. After the sock rubs against the expansion part of the expansion mechanism, the expansion mechanism is turned over together with the sock, so that the seam head (52) of the sock faces upward.

3. The method for locating the seam of a sock based on intelligent vision according to claim 2, characterized in that: In the step S1, the following step is also included, in which the method of intelligent visual recognition is used to determine whether the sock opening (51) is open, and when it is not open, the sock is discarded.

4. The method for locating the seam toe of a sock based on intelligent vision according to claim 1, characterized in that: In step S2, when the sock is moved and the heterochromatic carding strip (55) at the upper edge of the stitching line (53) of the seam end (52) of the sock is completely turned outward by using friction, the following steps are adopted to move the sock and gradually turn out the heterochromatic carding strip (55) at the upper edge of the stitching line (53) of the seam end (52) of the sock by using friction as the sock moves until it is completely turned outward.

5. The method for locating the seam of a sock based on intelligent vision according to claim 1, characterized in that: In step S3, the following steps are also included: judging whether the heterochromatic card strip (55) at the upper edge of the seam line (53) of the socks is completely turned out by an intelligent visual recognition method; when the heterochromatic card strip (55) is not completely turned out, the socks are discarded.

6. The method for locating the seam of a sock based on intelligent vision according to claim 1, characterized in that: In step S3, the following steps are also included: judging whether the stitching line (53) of the socks and the heterochromatic carding tape (55) form a flat ring shape by means of an intelligent visual recognition method; if the stitching line (53) and the heterochromatic carding tape (55) of the socks are not successfully grasped or the flat ring shape is not formed, the socks are discarded.

7. An expansion mechanism, using the sock seam positioning method based on intelligent vision as described in any one of claims 1 to 6, characterized in that: The expansion mechanism comprises an expansion rod (1), an expansion connecting rod group (2), an expansion transmission part (3) and an expansion drive device (4); the expansion transmission part (3) is movably mounted on the expansion rod (1) along the axial direction of the expansion rod (1); the expansion connecting rod group (2) is provided with a plurality of expansion connecting rods and arranged around the circumferential direction of the expansion rod (1); the expansion connecting rod group (2) is transmission-connected to an output part of the expansion drive device (4) via the expansion transmission part (3); and the outside of the plurality of expansion connecting rod groups (2) moves away from or close to the expansion rod (1) when the expansion drive device (4) is actuated.

8. An expansion mechanism according to claim 7, characterized in that: The expansion link group (2) is provided with a first expansion link (21), a second expansion link (22), a third expansion link (23) and a fourth expansion link (24); the head end of the first expansion link (21) is rotatably mounted on the head end of the expansion rod (1); the head ends of the second expansion link (22) and the fourth expansion link (24) are both rotatably connected to the tail end of the first expansion link (21); the head end of the third expansion link (23) is rotatably connected to the tail end of the second expansion link (22); the third expansion link (23) and the fourth expansion link (24) are parallel and respectively rotatably connected to the expansion transmission part (3); the second expansion link (22) is arranged to extend along the axial direction of the expansion rod (1) and to be parallel to the axial direction of the expansion rod (1); the second expansion link (22) moves away from or approaches the expansion rod (1) when the expansion drive device (4) is actuated.

9. An expansion mechanism according to claim 7, characterized in that: The front end of the expansion rod (1) is provided with a mushroom-shaped head (11) for pushing open the sock opening (51) of the sock.

10. An expansion mechanism according to claim 7, characterized in that: The outer cover of the expansion mechanism is provided with a replaceable protective layer for isolating the expansion mechanism and the socks.

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