Suspension type doffing device and paper tube filling method based on visual positioning

Abstract

The invention provides a suspension type doffing device and a paper tube filling method based on visual positioning. A suspension type doffing robot of the device comprises a paper tube filling module and a control system. The paper tube filling module is used for taking empty paper tubes and comprises a three-dimensional movement mechanism, a visual positioning mechanism and a filling push-out mechanism, the three-dimensional movement mechanism comprises a filling lifting mechanism, a filling transverse moving mechanism and an offset adjusting mechanism, and the filling transverse moving mechanism is driven to move along the Z axis, the offset adjusting mechanism is driven to move along the Y axis, and the filling push-out mechanism is driven to move along the X axis; the visual positioning mechanism comprises a visual camera and a visual positioning verification system, the visual camera is arranged on the filling push-out mechanism and used for carrying out centering precision photographing on the empty paper tube and the inflatable shaft, the visual positioning verification system calculates a circle center coordinate deviation value according to the visual camera and converts the circle center coordinate deviation value into a coordinate system, and the three-dimensional movement mechanism adjusts the relative positions of the empty paper tube and the inflatable shaft according to the coordinate system; and deviation correction adjustment is carried out until the precision requirement is met, paper feeding operation is carried out, and accurate and automatic filling of the empty paper tubes is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of chemical fiber filament production, and particularly to a hanging bobbin dropping device and a paper tube loading method based on visual positioning. Background Art

[0002] In recent years, the domestic chemical fiber industry has developed rapidly, and the output of chemical fiber polyester filaments has increased year by year. In order to reduce costs and increase efficiency and enhance the competitiveness of enterprises, the requirements for the automation and intelligence of equipment by chemical fiber production enterprises are gradually increasing.

[0003] Currently, the automated logistics system for chemical fiber filament production can achieve the full-process automation of chemical fiber polyester filaments from polyester, spinning, winding to bobbin dropping and packaging. Among them, in the chemical fiber polyester filament winding workshop, the automatic bobbin dropping system, as a key component of the automated logistics system for chemical fiber filament production, can achieve the automatic bobbin dropping of chemical fiber bobbins.

[0004] The process of automatic bobbin dropping includes three links: loading an empty paper tube into the winding machine, the winding machine winding the spun yarn on the paper tube to form a full bobbin, and the full bobbin dropping to the bobbin dropping robot.

[0005] Due to the requirements of the floor layout of the chemical fiber filament production workshop, most of the existing automatic bobbin dropping systems for chemical fibers are composed of a hanging bobbin dropping robot and an overhead running track. The hanging bobbin dropping robot is arranged between the two side winding machines and travels along the track, and can achieve the automatic bobbin dropping of full bobbins from the two side winding machines.

[0006] The operation of loading the paper tube includes two links: the bobbin dropping robot picking up an empty paper tube and the bobbin dropping robot loading the empty paper tube onto the air shaft of the winding machine. In the current automatic bobbin dropping system for chemical fibers, usually, the paper tube is manually loaded into the bobbin dropping robot, and then the bobbin dropping robot loads it onto the air shaft of the winding machine; or the paper tube is directly manually loaded onto the air shaft of the winding machine.

[0007] Furthermore, the invention with the publication number CN215625916U and the title "An automatic bobbin dropping robot with an automatic paper tube loading function" discloses an automatic bobbin dropping robot with an automatic paper tube loading function. In this solution, a paper tube loading mechanism is arranged on one side of the bobbin dropping mechanism. The paper tube loading mechanism is provided with a primary driving device and a secondary driving device, and can load an empty paper tube into the winding machine after bobbin dropping. Although this solution can achieve the basic function of loading the paper tube, the paper tube loading mechanism lacks precise positioning ability, it is difficult to ensure the centering accuracy, and it is easy to cause damage to the paper tube.

[0008] The invention with the publication number CN113184635A and the title "Automatic tube dropping robot with a transfer rack and its method for automatically loading and unloading paper tubes" discloses an automatic tube dropping robot with a transfer rack. Similar to the aforementioned CN215625916U, a paper tube loading mechanism is provided on one side of the tube dropping mechanism, which can load empty paper tubes into the winding machine after tube dropping. In addition, a transfer rack is provided, and a receiving rod and a pneumatic device are arranged on the transfer rack. The receiving rod can be docked with the paper tube loading mechanism or the tube dropping mechanism through the pneumatic device to realize the tube dropping of the winding machine and the paper tube loading operation. However, for the transfer rack of this solution, that is, the empty paper tube temporary storage rack, multiple pneumatic devices or driving devices need to be equipped to realize the automatic loading of paper tubes. Moreover, its structure is relatively complex, the manufacturing cost is high, and the implementation difficulty on the ground is high.

[0009] However, there are many problems in the existing paper tube loading operation: in the empty paper tube loading link, it mainly relies on a simple mechanical direct method and lacks a precise positioning mechanism. Since the circumferential clearance between the empty paper tube and the air shaft of the winding machine is only 1-2 mm, a higher centering accuracy is required for the paper tube loading mechanism and the air shaft of the winding machine. However, the mechanical direct docking method in the existing technology is difficult to ensure the centering accuracy, easily resulting in hard friction contact between the inner wall of the empty paper tube and the outer circle of the air shaft, causing damage to the paper tube. In addition, the structure of the existing empty paper tube temporary storage rack is complex, the manufacturing cost is high, and the implementation difficulty on the ground is large.

[0010] In view of this, the present invention is specifically proposed. Summary of the Invention

[0011] The purpose of the present invention is to provide a hanging tube dropping device and a paper tube loading method based on visual positioning to solve the technical problem in the existing technology that the loading of empty paper tubes usually adopts a mechanical direct docking method, resulting in low centering accuracy, so that there is frictional contact between the empty paper tube and the air shaft of the winding machine, and it is easy to cause damage to the paper tube. The many technical effects that can be produced by the preferred technical solutions provided by the present invention are described in detail below.

[0012] To achieve the above purpose, the present invention provides the following technical solutions: A hanging bobbin dropping device provided by the present invention includes a hanging bobbin dropping robot; the hanging bobbin dropping robot includes a paper tube loading module and a control system electrically connected to the paper tube loading module; the paper tube loading module is used to pick up and load empty paper tubes, and includes a three-dimensional motion mechanism, a visual positioning mechanism and a loading and pushing mechanism. The three-dimensional motion mechanism includes a loading lifting mechanism, a loading transverse movement mechanism and an offset adjustment mechanism. The loading lifting mechanism drives the loading transverse movement mechanism to move along the Z-axis direction; the loading transverse movement mechanism drives the offset adjustment mechanism to move along the Y-axis direction; the offset adjustment mechanism drives the loading and pushing mechanism to move along the X-axis direction; the visual positioning mechanism includes a visual camera and a visual positioning verification system electrically connected to the visual camera, and the visual camera is arranged on the loading and pushing mechanism.

[0013] Preferably, the hanging bobbin dropping robot further includes a column, a bobbin dropping module and a rotating part. The bobbin dropping module is arranged on one side of the column and is electrically connected to the control system; the paper tube loading module is arranged on the other side of the column; the rotating part drives the column to drive the bobbin dropping module and the paper tube loading module to perform a rotating action.

[0014] Preferably, the hanging bobbin dropping robot further includes a rotating part, and the rotating part drives the column to drive the bobbin dropping module and the paper tube loading module to perform a rotating action.

[0015] Preferably, the hanging bobbin dropping robot further includes an upper cross beam, a horizontal running part, a lower cross beam and a horizontal guiding part. The upper cross beam is connected to the column through the rotating part; the horizontal running part is arranged on the upper cross beam and is in sliding cooperation with an aerial guide rail; the lower cross beam is arranged below the column, and the horizontal guiding part is arranged on the lower cross beam and is in sliding cooperation with a ground guiding groove.

[0016] Preferably, the bobbin dropping module includes a bobbin dropping lifting part and a bobbin dropping part. The bobbin dropping lifting part is arranged on the column; the bobbin dropping part includes a bobbin dropping transverse movement mechanism and a bobbin dropping pushing mechanism. The bobbin dropping lifting part drives the bobbin dropping transverse movement mechanism to move along the Z-axis direction; the bobbin dropping transverse movement mechanism drives the bobbin dropping pushing mechanism to move along the Y-axis direction; the bobbin dropping pushing mechanism includes a bobbin dropping receiving rod, a bobbin dropping pushing ring and a bobbin dropping driving component. The bobbin dropping receiving rod is used to receive a full-wound silk ingot. The bobbin dropping pushing ring is sleeved on the bobbin dropping receiving rod, and the bobbin dropping driving component drives the bobbin dropping pushing ring to reciprocate along the bobbin dropping receiving rod.

[0017] Preferably, the bobbin lowering and lifting part includes a first driving mechanism, a first transmission mechanism and a first linear guide mechanism. The bobbin part further includes a connecting plate for mounting the bobbin transverse movement mechanism. The first driving mechanism is arranged on the column and is in transmission connection with the connecting plate through the first transmission mechanism; the connecting plate is slidably connected with the column through the first linear guide mechanism; The bobbin transverse movement mechanism includes a transverse movement frame, a second driving mechanism, a second transmission mechanism and a second linear guide mechanism. The second driving mechanism is arranged on the transverse movement frame and is connected with the connecting plate through the second transmission mechanism. The transverse movement frame is slidably connected with the connecting plate through the second linear guide mechanism; The bobbin driving assembly includes a third driving mechanism, a third transmission mechanism and a third linear guide mechanism. The third driving mechanism is arranged on the transverse movement frame. The third driving mechanism is in transmission connection with the bobbin pushing ring through the third transmission mechanism. The bobbin pushing ring is slidably connected with the bobbin receiving rod through the third linear guide mechanism.

[0018] Preferably, the filling lowering and lifting part includes a fourth driving mechanism, a fourth transmission mechanism and a fourth linear guide mechanism. The filling paper tube part further includes the connecting frame. The fourth driving mechanism is arranged on the connecting frame and is in transmission connection with the column through the fourth transmission mechanism; the connecting frame is connected with the column through the fourth linear guide mechanism; The filling transverse movement mechanism includes a transverse movement frame, a fifth driving mechanism, a fifth transmission mechanism and a fifth linear guide mechanism. The fifth driving mechanism is arranged on the transverse movement frame and is connected with the connecting frame through the fifth transmission mechanism; the transverse movement frame is connected with the connecting frame through the fifth linear guide mechanism; The offset adjustment mechanism includes an offset adjustment frame, a sixth driving mechanism and a sixth linear guide mechanism. The offset adjustment frame is connected with the transverse movement frame through the sixth driving mechanism, and the offset adjustment frame is connected with the transverse movement frame through the sixth linear guide mechanism; The filling pushing mechanism includes a seventh driving mechanism, a sixth transmission mechanism, a filling pushing ring, a filling receiving rod and a seventh linear guide mechanism. The filling receiving rod is arranged on the offset adjustment frame; the filling pushing ring is sleeved on the filling receiving rod. The seventh driving mechanism drives the filling pushing ring to reciprocate along the filling receiving rod, and the filling pushing ring is connected with the filling receiving rod through the seventh linear guide mechanism.

[0019] Preferably, the vision camera includes an industrial camera, and the industrial camera is arranged at the free end of the filling receiving rod.

[0020] Preferably, it further includes a paper tube temporary storage rack which is formed by splicing a frame structure and is separated by partition boards to form a plurality of paper tube slots for placing empty paper tubes.

[0021] A paper tube loading method based on visual positioning includes the aforementioned hanging bobbin device and further includes the following steps: Step 1: The hanging bobbin robot carries an empty paper tube and runs to the docking position with the air shaft of the winding machine. Step 2: The visual positioning mechanism collects and calculates the deviation value between the center coordinates of the empty paper tube and the center coordinates of the air shaft. Step 3: According to the deviation value, drive the three-dimensional motion mechanism to correct the relative positions of the empty paper tube and the air shaft. Step 4: Repeat Step 2 and Step 3 until the deviation value meets the set precision requirements, and then perform the paper tube loading operation.

[0022] The preferred technical solution of the present invention can at least further produce the following technical effects: The present invention effectively avoids the technical problems existing in the prior art that the loading of empty paper tubes usually adopts mechanical direct docking, resulting in low centering accuracy, so that there is frictional contact between the empty paper tube and the air shaft of the winding machine, and it is easy to cause damage to the paper tube.

[0023] The present invention provides a hanging bobbin device, including a hanging bobbin robot; the hanging bobbin robot includes a paper tube loading module and a control system electrically connected to the paper tube loading module. The paper tube loading module is used to pick up and load empty paper tubes, and includes a three-dimensional motion mechanism, a visual positioning mechanism and a loading and pushing mechanism. The three-dimensional motion mechanism includes a loading lifting mechanism, a loading transverse movement mechanism and an offset adjustment mechanism. The loading lifting mechanism drives the loading transverse movement mechanism to move along the Z-axis direction; the loading transverse movement mechanism drives the offset adjustment mechanism to move along the Y-axis direction; the offset adjustment mechanism drives the loading and pushing mechanism to move along the X-axis direction; the visual positioning mechanism includes a visual camera and a visual positioning verification system electrically connected to the visual camera, and the visual camera is arranged on the loading and pushing mechanism.

[0024] During the position alignment process, the vision camera takes pictures of the centering accuracy between the inner wall of the empty paper tube and the air-expanding shaft of the winding machine in the plane. The vision positioning and calibration system calculates the deviation value between the center coordinates of the empty paper tube and the center coordinates of the air-expanding shaft based on the image, and converts it into the actual coordinate system of the loading lifting part and the offset adjustment mechanism. Subsequently, it is fed back to the control system. The control system drives both to drive the loading and pushing mechanism and the empty paper tube to perform alignment adjustment in the Z direction and the X direction, adjusting the relative position between the axis of the paper tube and the axis of the air-expanding shaft of the winding machine until the accuracy requirements are met. After completing the precise alignment, the operation of loading the paper tube is carried out, which can greatly improve the centering accuracy, prevent unnecessary frictional contact between the inner wall of the empty paper tube and the air-expanding shaft of the winding machine, effectively reduce the risk of damage to the paper tube during the loading process, improve the service life of the paper tube and the product quality, thereby realizing the precise automatic loading of the paper tube and improving the loading efficiency and accuracy. Brief Description of the Drawings

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0026] Figure 1 is a schematic structural diagram of a hanging bobbin dropping device provided by the present invention; Figure 2 is a schematic structural diagram of a hanging bobbin dropping robot of a hanging bobbin dropping device provided by the present invention; Figure 3 is a schematic structural diagram of another perspective of a hanging bobbin dropping robot of a hanging bobbin dropping device provided by the present invention; Figure 4 is a schematic structural diagram of a bobbin dropping module and a column of a hanging bobbin dropping device provided by the present invention; Figure 5 is a schematic structural diagram of a paper tube loading module and a column of a hanging bobbin dropping device provided by the present invention; Figure 6 is a schematic structural diagram of an industrial camera of a hanging bobbin dropping device provided by the present invention; Figure 7 is a position alignment schematic diagram of the present invention; Figure 8 is an operation flow chart of a paper tube loading method based on vision positioning provided by the present invention; Figure 9 is a vision alignment operation flow chart provided by the present invention.

[0027] In the figure: 1. Suspended bobbin dropping robot; 11. Upper cross beam; 12. Horizontal running part; 121. Driving wheel set; 122. Horizontal driving motor; 123. Driven wheel set; 13. Rotating part; 131. Rotating base; 132. Turntable; 133. Rotating driving motor; 14. Column; 15. Bobbin dropping module; 151. Bobbin dropping lifting part; 1511. First driving motor; 1512. Lifting pulley; 1513. Lifting steel belt; 1514. First linear guide mechanism; 152. Bobbin dropping part; 1521. Connecting plate; 1522. Bobbin dropping transverse movement mechanism; 15221. Transverse movement frame; 15222. Second driving motor; 15223. First gear-rack mechanism; 15224. Second linear guide mechanism; 1523. Bobbin dropping pushing mechanism; 15231. Bobbin dropping receiving rod; 15232. Sprocket chain mechanism; 15233. Bobbin dropping pushing ring; 15234. Third linear guide mechanism; 15235. Third driving motor; 16. Paper tube loading module; 161. Paper tube loading lifting part; 1611. Second gear-rack mechanism; 1612. Fourth driving motor; 1613. Fourth linear guide mechanism; 162. Paper tube loading part; 1621. Connecting frame; 1622. Paper tube loading transverse movement mechanism; 16221. Transverse movement frame; 16222. Third gear-rack mechanism; 16223. Fifth linear guide mechanism; 16224. Fifth driving motor; 1623. Paper tube loading pushing mechanism; 16231. Toothed belt drive mechanism; 16232. Paper tube loading pushing ring; 16233. Paper tube loading receiving rod; 16234. Seventh linear guide mechanism; 16235. Sixth driving motor; 1624. Offset adjustment mechanism; 16241. Offset adjustment frame; 16242. Linear module; 16243. Sixth linear guide mechanism; 1625. Industrial camera; 17. Lower cross beam; 18. Horizontal guiding part; 2. Paper tube temporary storage rack; 21. Empty paper tube; 22. Partition board; 3. Winder; 31. Air shaft; 32. Spindle. Detailed implementation mode

[0028] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope protected by the present invention.

[0029] As Figures 1-7 shown, the present invention provides a hanging bobbin dropping device, which includes a hanging bobbin dropping robot 1; the hanging bobbin dropping robot 1 is movably arranged along an aerial guide rail, and includes a paper tube loading module 16 and a control system electrically connected to the paper tube loading module 16. The paper tube loading module 16 is used to pick up and load empty paper tubes 21, and includes a three-dimensional motion mechanism, a visual positioning mechanism and a loading and pushing mechanism 1623. The three-dimensional motion mechanism includes a loading lifting mechanism 161, a loading transverse movement mechanism 1622 and an offset adjustment mechanism 1624. The loading lifting mechanism 161 drives the loading transverse movement mechanism 1622 to move along the Z-axis direction; the loading transverse movement mechanism 1622 drives the offset adjustment mechanism 1624 to move along the Y-axis direction; the offset adjustment mechanism 1624 drives the loading and pushing mechanism 1623 to move along the X-axis direction; the visual positioning mechanism includes a visual camera and a visual positioning verification system electrically connected to the visual camera, and the visual camera is arranged on the loading and pushing mechanism 1623.

[0030] During the position deviation correction operation, the visual camera takes pictures of the centering accuracy between the inner wall of the empty paper tube 21 and the air expansion shaft 31 of the winding machine 3 in a plane. The visual positioning verification system calculates the deviation value between the center coordinates of the empty paper tube 21 and the center coordinates of the air expansion shaft 31 according to the image, and converts it into the actual coordinate system of the loading lifting mechanism 161 and the offset adjustment mechanism 1624, and then feeds it back to the control system. The control system drives the two to drive the loading and pushing mechanism 1623 and the empty paper tube 21 to perform deviation correction adjustments in the Z direction and the X direction, adjusts the relative position between the paper tube axis and the air expansion axis of the winding machine, until the accuracy requirements are met, and then performs the paper tube loading operation, greatly improving the centering accuracy, so that unnecessary frictional contact does not occur between the inner wall of the empty paper tube and the air expansion shaft of the winding machine, effectively reducing the risk of damage to the paper tube during the loading process, and improving the service life of the paper tube and the product quality.

[0031] As an optional implementation manner, the hanging bobbin dropping robot 1 further includes a column 14, a bobbin dropping module 15 and a rotating part 13. The bobbin dropping module 15 is arranged on one side of the column 14 and is used to receive and push out full winding bobbins 32, and is electrically connected to the control system; the paper tube loading module 16 is arranged on the other side of the column 14; the rotating part 13 drives the column 14 to drive the bobbin dropping module 15 and the paper tube loading module 16 to perform a rotating action.

[0032] Further, the rotating part 13 includes a rotating base 131, a turntable 132, and a rotation driving motor 133. The rotating base 131 is arranged on the upper cross beam 11 and is used for installing the rotation driving motor 133. The turntable 132 is rotatably arranged on the rotating base 131, and the rotation driving motor 133 is in transmission connection with the column 14 through the turntable 132.

[0033] The rotation driving motor 133 drives the column 14 to drive the whole of the bobbin dropping module 15 and the paper tube loading module 16 to rotate, performing a slewing action, so that the bobbin dropping module and the paper tube loading module can adjust their positions according to the operation requirements to adapt to the different operation requirements of the winding machines 3 on both sides.

[0034] As an optional implementation manner, the suspended bobbin dropping robot 1 further includes an upper cross beam 11, a horizontal running part 12, a lower cross beam 17, a horizontal guiding part 18, and a rotating part 13. The upper cross beam 11 is connected to the column 14 through the rotating part 13. The horizontal running part 12 is arranged on the upper cross beam 11 and is in sliding fit with the aerial guide rail. The lower cross beam is arranged below the column 14, and the horizontal guiding part 18 is arranged on the lower cross beam 17 and is in sliding fit with the ground guiding groove.

[0035] Further, the horizontal running part 12 includes a horizontal driving motor 122, a driving wheel set 121, and a driven wheel set 123. The driving wheel set 121 and the driven wheel set 123 are arranged on both sides of the upper cross beam 11. The driving wheel set 121 and the driven wheel set 123 are respectively in sliding fit with the aerial guide rail, and the horizontal driving motor 122 is in transmission connection with the driving wheel set 121.

[0036] The horizontal driving motor 122 drives the driving wheel set 121 to roll along the aerial guide rail, and the driven wheel set 123 rolls accordingly, thereby driving the suspended bobbin dropping robot 1 to perform horizontal running along the aerial guide rail.

[0037] During the horizontal running of the suspended bobbin dropping robot 1, the horizontal guiding part 18 moves along the ground guiding groove, providing a ground guiding function for the suspended bobbin dropping robot 1.

[0038] As an optional implementation manner, the bobbin dropping module 15 includes a bobbin dropping lifting part 151 and a bobbin dropping part 152. The bobbin dropping lifting part 151 is arranged on the column 14. The bobbin dropping part 152 includes a bobbin dropping transverse movement mechanism 1522 and a bobbin dropping pushing mechanism 1523. The bobbin dropping lifting part 151 drives the bobbin dropping transverse movement mechanism 1522 to move along the Z-axis direction. The bobbin dropping transverse movement mechanism 1522 drives the bobbin dropping pushing mechanism 1523 to move along the Y-axis direction. The bobbin dropping pushing mechanism 1523 includes a bobbin dropping receiving rod 15231, a bobbin dropping pushing ring 15233, and a bobbin dropping driving assembly. The bobbin dropping receiving rod 15231 is used for receiving the full winding spool 32. The bobbin dropping pushing ring 15233 is sleeved on the bobbin dropping receiving rod 15231, and the bobbin dropping driving assembly drives the bobbin dropping pushing ring 15233 to reciprocate along the bobbin dropping receiving rod 15231.

[0039] As an optional implementation manner, the bobbin lowering and raising part 151 includes a first driving mechanism, a first transmission mechanism, and a first linear guide rail mechanism 1514. The bobbin part 152 further includes a connecting plate 1521 for mounting the bobbin transverse movement mechanism 1522. The first driving mechanism is arranged on the column 14 and is connected to the connecting plate 1521 through the first transmission mechanism; the connecting plate 1521 is slidably connected to the column 14 through the first linear guide rail mechanism 1514.

[0040] The bobbin transverse movement mechanism 1522 includes a transverse movement frame 15221, a second driving mechanism, a second transmission mechanism, and a second linear guide rail mechanism 15224. The second driving mechanism is arranged on the transverse movement frame 15221 and is connected to the connecting plate 1521 through the second transmission mechanism. The transverse movement frame 15221 is slidably connected to the connecting plate 1521 through the second linear guide rail mechanism 15224.

[0041] The bobbin driving assembly includes a third driving mechanism, a third transmission mechanism, and a third linear guide rail mechanism 15234. The third driving mechanism is arranged on the transverse movement frame 15221. The third driving mechanism is connected to the bobbin pushing ring 15233 through the third transmission mechanism. The bobbin pushing ring 15233 is slidably connected to the bobbin receiving rod 15231 through the third linear guide rail mechanism 15234.

[0042] Furthermore, the first driving mechanism includes a first driving motor 1511 arranged on the column 14. The first transmission mechanism includes a lifting pulley 1512 and a lifting steel belt 1513. The first driving motor 1511 is in transmission connection with the lifting pulley 1512. One end of the lifting steel belt 1513 is connected to the lifting pulley 1512, and the other end is connected to the connecting plate 1521.

[0043] The first driving motor 1511 drives the lifting pulley 1512 to rotate, driving the lifting steel belt 1513 to wind around the lifting pulley 1512 or release from the lifting pulley 1512 accordingly, thereby driving the connecting plate 1521 to perform vertical lifting movement.

[0044] The guide rail of the first linear guide rail mechanism 1514 is arranged on the column 14 and extends along the height direction parallel to the column 14. The slider of the first linear guide rail mechanism 1514 is connected to the connecting plate 1521. Through the sliding fit of the guide rail and the slider of the first linear guide rail mechanism 1514, a guiding effect is provided for the connecting plate 1521, enabling the bobbin part 152 to perform accurate and stable vertical lifting movement along the column 14.

[0045] The second driving mechanism includes a second driving motor 15222 disposed on the transverse movement frame 15221. The second transmission mechanism includes a first gear-rack mechanism 15223. The gear of the first gear-rack mechanism 15223 is connected to the second driving motor 15222. The rack of the first gear-rack mechanism 15223 and the guide rail of the second linear guide mechanism 15224 are both disposed on the connecting plate 1521, and the two are arranged in parallel and extend along the length direction parallel to the second linear guide mechanism 15224. The slider of the second linear guide mechanism 15224 is connected to the transverse movement frame 15221.

[0046] The second driving motor 15222 drives the gear of the first gear-rack mechanism 15223 to rotate. Since the gear meshes with the rack, it drives the transverse movement frame 15221 to move along the direction of the rack of the first gear-rack mechanism 15223, that is, the Y-axis direction. At the same time, through the sliding fit between the guide rail and the slider of the second linear guide mechanism 15224, a guiding effect is provided for the transverse movement frame 15221, so that the bobbin pushing-out mechanism 1523 can perform accurate and stable lateral movement.

[0047] The third driving mechanism includes a third driving motor 15235 disposed on the transverse movement frame 15221. The third transmission mechanism includes a sprocket-chain mechanism 15232 disposed on the bobbin receiving rod 15231. The driving sprocket of the sprocket-chain mechanism 15232 is connected to the third driving motor 15235, and the chain of the sprocket-chain mechanism 15232 is connected to the bobbin pushing-out ring 15233.

[0048] The third driving motor 15235 drives the driving sprocket of the sprocket-chain mechanism 15232 to rotate, driving the chain of the sprocket-chain mechanism 15232 to drive the bobbin pushing-out ring 15233 to reciprocate along the axial direction of the bobbin receiving rod 15231, that is, the Y-axis direction.

[0049] The guide rail of the third linear guide mechanism 15234 is disposed on the bobbin receiving rod 15231 and extends along the axial direction parallel to the bobbin receiving rod 15231. The slider of the third linear guide mechanism 15234 is connected to the bobbin pushing-out ring 15233. And through the sliding fit between the guide rail and the slider of the third linear guide mechanism 15234, a guiding effect is provided for the bobbin pushing-out ring 15233, so that the bobbin pushing-out ring 15233 can perform accurate and stable lateral movement.

[0050] As an optional implementation manner, the loading lifting mechanism 161 includes a fourth driving mechanism, a fourth transmission mechanism and a fourth linear guide mechanism 1613. The loading paper tube part 162 further includes a connecting frame 1621 for installing the loading transverse movement mechanism 1622. The fourth driving mechanism is disposed on the connecting frame 1621 and is connected to the column 14 through the fourth transmission mechanism; the connecting frame 1621 is connected to the column 14 through the fourth linear guide mechanism 1613; The loading transverse movement mechanism 1622 includes a transverse movement frame 16221, a fifth driving mechanism, a fifth transmission mechanism and a fifth linear guide mechanism 16223. The fifth driving mechanism is arranged on the transverse movement frame 16221 and is connected to the connecting frame 1621 through the fifth transmission mechanism; the transverse movement frame 16221 is connected to the connecting frame 1621 through the fifth linear guide mechanism 16223; The offset adjustment mechanism 1624 includes an offset adjustment frame 16241, a sixth driving mechanism and a sixth linear guide mechanism 16243. The offset adjustment frame 16241 is connected to the transverse frame 16221 through the sixth driving mechanism, and the offset adjustment frame 16241 is connected to the transverse frame 16221 through the sixth linear guide mechanism 16243. The filling and ejecting mechanism 1623 includes a seventh driving mechanism, a sixth transmission mechanism, a filling and ejecting ring 16232, a filling receiving rod 16233 and a seventh linear guide mechanism 16234. The filling and ejecting rod 16233 is arranged on the offset adjustment frame 16241; the filling and ejecting ring 16232 is sleeved on the filling and ejecting rod 16233, and the seventh driving mechanism drives the filling and ejecting ring 16232 to reciprocate along the filling and ejecting rod 16233, and the filling and ejecting ring 16232 is connected to the filling and ejecting rod 16233 through the seventh linear guide mechanism 16234.

[0051] Further, the fourth driving mechanism includes a fourth driving motor 1612 disposed on the connecting frame 1621, and the fourth transmission mechanism includes a second gear rack mechanism 1611. The rack of the second gear rack mechanism 1611 and the guide rail of the fourth linear guide mechanism 1613 are both disposed on the column 14 and extend in a height direction parallel to the column 14, and the gear of the second gear rack mechanism 1611 is connected to the fourth driving motor 1612. The slider of the fourth linear guide mechanism 1613 is connected to the connecting frame 1621.

[0052] The fourth driving motor 1612 drives the gear of the second gear rack mechanism 1611 to rotate. Due to the meshing of the gear and the rack, the connecting frame 1621 is driven to move along the direction of the rack of the second gear rack mechanism 1611, that is, the Z-axis direction. The guide rail and the slider of the fourth linear guide mechanism 1613 are slidably matched to provide a guide for the connecting frame 1621, so that the loading and ejecting mechanism 1623 can be accurately and stably lifted and lowered vertically along the column 14.

[0053] The fifth driving mechanism includes a fifth driving motor 16224 disposed on the transverse movement frame 16221. The fifth transmission mechanism includes a third gear-rack mechanism 16222. The rack of the third gear-rack mechanism 16222 and the guide rail of the fifth linear guide mechanism 16223 are both disposed on the connecting frame 1621 and extend along the length direction parallel to the connecting frame 1621. The gear of the third gear-rack mechanism 16222 is connected to the fifth driving motor 16224. The slider of the fifth linear guide mechanism 16223 is connected to the transverse movement frame 16221.

[0054] The fifth driving motor 16224 drives the gear of the third gear-rack mechanism 16222 to rotate. Due to the meshing of the gear and the rack, it drives the transverse movement frame 16221 to move along the direction of the rack of the third gear-rack mechanism 16222, that is, the Y-axis direction. And through the sliding fit of the guide rail and the slider of the fifth linear guide mechanism 16223, it provides a guiding effect for the transverse movement frame 16221, so that the loading and pushing mechanism 1623 can perform accurate and stable lateral movement.

[0055] The sixth driving mechanism includes a linear module 16242. The moving track of the linear module 16242 and the guide rail of the sixth linear guide mechanism 16243 are both disposed on the bottom surface of the transverse movement frame 16221 and extend along the direction perpendicular to the rack of the third gear-rack mechanism 16222, that is, the X-axis direction; the slider of the linear module 16242 and the slider of the sixth linear guide mechanism 16243 are respectively connected to the offset adjustment frame 16241.

[0056] The linear module 16242 drives the offset adjustment frame 16241 to move along its moving track direction, that is, the X-axis direction. And through the sliding fit of the guide rail and the slider of the sixth linear guide mechanism 16243, it provides a guiding effect for the offset adjustment frame 16241, so that the loading and pushing mechanism 1623 can perform accurate and stable longitudinal movement.

[0057] The seventh driving mechanism includes a sixth driving motor 16235 disposed on the offset adjustment frame 16241. The sixth transmission mechanism includes a toothed belt transmission mechanism 16231 disposed on the loading receiving rod 16233. The driving gear of the toothed belt transmission mechanism 16231 is connected to the sixth driving motor 16235, and the toothed belt of the toothed belt transmission mechanism 16231 is connected to the loading and pushing ring 16232.

[0058] The guide rail of the seventh linear guide mechanism 16234 is disposed on the loading receiving rod 16233 and extends along the axial direction parallel to the loading receiving rod 16233. The slider of the seventh linear guide mechanism 16234 is connected to the loading and pushing ring 16232.

[0059] The sixth drive motor 16235 drives the rotation of the driving gear of the toothed belt transmission mechanism 16231, drives the toothed belt to move, and drives the loading and pushing ring 16232 to reciprocate along the axial direction of the loading and receiving rod 16233, that is, the Y-axis direction. And through the sliding fit of the guide rail and the slider of the seventh linear guide mechanism 16234, a guiding effect is provided for the loading and pushing ring 16232, so that the loading and pushing ring 16232 can move horizontally accurately and stably.

[0060] As the actuating mechanism for loading paper tubes, the loading and pushing mechanism 1623 can move in three dimensions in the Z-axis, Y-axis, and X-axis directions respectively following the loading lifting mechanism 161, the loading transverse movement mechanism 1622, and the offset adjustment mechanism 1624, so as to accurately load the empty paper tubes 21 onto the air-expanding shaft 31 of the winding machine 3.

[0061] As an optional implementation manner, the vision camera includes an industrial camera 1625, and the industrial camera 1625 is arranged at the free end of the loading and receiving rod 16233.

[0062] Furthermore, the optical axis of the industrial camera 1625 coincides with the axis of the loading and receiving rod 16233, so that when the hanging bobbin robot 1 runs to the position of loading paper tubes on the winding machine 3, the industrial camera 1625 can directly collect the image of the air-expanding shaft 31 and feedback it to the control system.

[0063] As an optional implementation manner, it further includes a paper tube temporary storage rack 2. The paper tube temporary storage rack 2 is spliced by a frame structure and is separated by partitions 22 to form a plurality of paper tube slots, and the empty paper tubes 21 are stacked in the paper tube slots from top to bottom in sequence.

[0064] Compared with the existing empty paper tube temporary storage racks that need to be equipped with multiple pneumatic devices or driving devices to achieve automatic loading of paper tubes, the structure is complex, the manufacturing cost is high, and the implementation difficulty on the ground is high. While the structure of the paper tube temporary storage rack 2 of the present invention is simple, the manufacturing cost is low, and there is no need to set additional driving devices on the paper tube temporary storage rack 2. The automatic loading operation of the empty paper tubes can be achieved through the movement and operation of the paper tube loading module 16.

[0065] Through the coordinated action of the hanging bobbin robot 1 and the paper tube temporary storage rack 2, the automatic paper tube loading operation is closely connected with the automatic bobbin dropping operation. The hanging bobbin robot can immediately perform the operation of loading paper tubes after completing the bobbin dropping operation, further improving the bobbin dropping efficiency of the bobbins and optimizing the production process. Among them, the bobbin dropping module 15 and the paper tube loading module 16 are integrally arranged on the column 14, improving the space utilization rate, making the overall structure of the hanging bobbin robot 1 compact and reasonable, and the implementation difficulty of the paper tube loading scheme is low.

[0066] Such as Figure 8As shown in the figure, the present invention provides a method for bobbin dropping and paper tube loading, which includes the aforementioned suspended bobbin dropping device, and also includes the following steps: S1: Bobbin dropping of the yarn bobbin 32. When the winding machine sends a signal indicating that the bobbin is full, the horizontal drive motor 122 drives the driving wheel set 121 to roll along the overhead guide rail, driving the suspended bobbin dropping robot 1 to move to the bobbin dropping position of the winding machine 3. The bobbin lifting part 151 and the bobbin transverse movement mechanism 1522 act in coordination. The first drive motor 1511 drives the lifting pulley 1512 to rotate, driving the connecting plate 1521 to move up and down along the column 14 through the lifting steel belt 1513, so that the bobbin receiving rod 15231 moves to an appropriate position in the Z-axis direction; the second drive motor 15222 drives the gear of the first rack and pinion mechanism 15223 to rotate, driving the transverse movement frame 15221 to move horizontally along the connecting plate 1521, so that the bobbin receiving rod 15231 moves to the docking position with the air shaft 31 of the winding machine 3 in the Y-axis direction; at this time, the bobbin pushing ring 15233 moves to one end of the bobbin receiving rod 15231 away from the air shaft 31 under the drive of the third drive motor 15235 and the sprocket chain mechanism 15232. The air shaft 31 of the winding machine 3 deflates and the shaft diameter shrinks, pushing the full yarn bobbin 32 onto the bobbin receiving rod 15231 to complete the bobbin dropping operation of the yarn bobbin 32; S2: After the bobbin dropping operation is completed, it is detected whether the paper tube loading module 16 is carrying an empty paper tube. If the paper tube loading module 16 is already carrying an empty paper tube 21, the subsequent position deviation correction operation is directly carried out; if the paper tube loading module 16 is not carrying an empty paper tube 21, the horizontal running part 12 drives the suspended bobbin dropping robot 1 to run to the paper tube storage rack 2. The visual positioning mechanism corrects the relative position of the loading receiving rod 16233 and the empty paper tube 21. Subsequently, the fifth drive motor 16224 of the loading transverse movement mechanism 1622 drives the loading receiving rod 16233 to move horizontally through the third rack and pinion mechanism 16222 into the empty paper tube 21. The fourth drive motor 1612 of the loading lifting mechanism 161 drives the loading receiving rod 16233 to rise through the second rack and pinion mechanism 1611. Then, the loading transverse movement mechanism 1622 drives the loading receiving rod 16233 to return to its original position and takes away the empty paper tube 21; S3: Position deviation correction. The horizontal running part 12 drives the suspended bobbin dropping robot 1 to run to the paper tube loading position of the winding machine 3. The visual camera takes a picture of the air shaft 31 and transmits it to the visual positioning verification system. The visual positioning verification system calculates the deviation value between the center coordinates of the empty paper tube 21 and the center coordinates of the air shaft 31. The control system controls the loading lifting mechanism 161 to drive the loading receiving rod 16233 to move in the Z direction according to the offset amount, and at the same time, controls the offset adjustment mechanism 1624 to drive the loading receiving rod 16233 to move in the X direction to adjust the offset amount until the deviation value meets the preset accuracy requirement of the set value; S4: Paper tube loading. The loading and pushing ring 16232, driven by the sixth driving motor 16235 and the toothed belt drive mechanism 16231, loads the empty paper tube 21 onto the air shaft 31, completing the operation of loading the paper tube.

[0067] As an optional implementation manner, as Figure 9 shown, in the visual alignment of S3, it specifically includes the following steps: S301: The suspended tube dropping robot 1 runs to the docking position of the empty paper tube 21 and the air shaft 31 of the winding machine 3, and the calibration module of the visual positioning and verification system calibrates the pixel value of the industrial camera 1625 into an actual size value; S302: The industrial camera 1625 takes a picture of the air shaft 31 and transmits it to the visual positioning and verification system. The visual positioning and verification system obtains the center coordinate value of the air shaft 31 of the winding machine 3, and calculates the deviation value between the center coordinate of the empty paper tube 21 and the center coordinate of the air shaft 31 through its position offset module; S303: The formula operation module of the visual positioning and verification system converts the deviation value into the motion coordinate system of the loading and receiving rod 16233 and transmits it to the control system. The control system drives the fourth driving motor 1612 to drive the loading and receiving rod 16233 to move in the Z direction. At the same time, it controls the linear module 16242 to drive the loading and receiving rod 16233 to move in the X direction to adjust the position of the loading and receiving rod 16233, thereby adjusting the relative position of the empty paper tube 21 and the air shaft 31 and reducing the offset; S304: Repeat S302, the industrial camera 1625 takes a picture again, and the visual positioning and verification system calculates the deviation value again; if the deviation value meets the preset set value accuracy requirement, the visual alignment ends and the paper tube loading operation is carried out; if it does not meet the requirement, continue to perform step S303 until the deviation value meets the accuracy requirement after the (N + 1)th picture is taken.

[0068] It should be noted that the first driving mechanism, the second driving mechanism, the third driving mechanism, the fourth driving mechanism, the fifth driving mechanism, and the sixth driving mechanism include but are not limited to motors, and driving devices capable of realizing corresponding actions in the prior art can also be used.

[0069] Similarly, the transmission forms of the first transmission mechanism, the second transmission mechanism, the third transmission mechanism, the fourth transmission mechanism, the fifth transmission mechanism, and the sixth transmission mechanism include but are not limited to transmission devices in the prior art such as gear-rack transmission, sprocket-chain transmission, and toothed synchronous belt transmission, and the above transmission devices can be replaced with each other as long as they can realize the corresponding transmission function.

[0070] The vision camera includes but is not limited to the industrial camera 1625, and other devices with image acquisition functions in the prior art can also be used as long as they can realize the function of obtaining the image information of the air shaft 31.

[0071] The vision positioning verification system includes, but is not limited to, the mature vision positioning verification systems in the prior art. As long as it has the ability to process and analyze image information, can calculate the deviation value between the axis of the empty paper tube 21 and the axis of the expandable shaft 31, and can also convert the deviation value into the actual coordinate system of the fourth drive motor 1612 of the loading lifting mechanism 161 and the linear module 16242 of the offset adjustment mechanism 1624, and feedback it to the control system.

[0072] The specific circuit connection relationship between the tube dropping module 15 and the paper tube loading module 16 and the control system adopts the prior art and will not be elaborated here.

[0073] It can be understood that the same or similar parts in the above embodiments can be referred to each other, and the content not detailed in some embodiments can be referred to the same or similar content in other embodiments.

[0074] In the description of the present invention, it should be noted that unless otherwise specified, the meaning of "a plurality of" is two or more; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0075] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0076] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "one example" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0077] As described above, it is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims described.

Claims

1. A hanging bobbin dropping device, characterized in that, It includes a suspended bobbin-changing robot (1); the suspended bobbin-changing robot (1) includes a paper tube loading module (16) and a control system electrically connected to the paper tube loading module (16); the paper tube loading module (16) is used to pick up and load empty paper tubes (21), and includes a three-dimensional motion mechanism, a visual positioning mechanism and a loading and pushing mechanism (1623). The three-dimensional motion mechanism includes a loading lifting mechanism (161), a loading transverse movement mechanism (1622) and an offset adjustment mechanism (1624). The loading lifting mechanism (161) drives the loading transverse movement mechanism (1622) to move along the Z-axis direction; the loading transverse movement mechanism (1622) drives the offset adjustment mechanism (1624) to move along the Y-axis direction; the offset adjustment mechanism (1624) drives the loading and pushing mechanism (1623) to move along the X-axis direction; the visual positioning mechanism includes a visual camera and a visual positioning verification system electrically connected to the visual camera, and the visual camera is arranged on the loading and pushing mechanism (1623).

2. The hanging bobbin dropping device according to claim 1, characterized in that, The suspended bobbin-changing robot (1) further includes a column (14), a bobbin-changing module (15) and a rotating part (13). The bobbin-changing module (15) is arranged on one side of the column (14) and is electrically connected to the control system; the paper tube loading module (16) is arranged on the other side of the column (14); the rotating part (13) drives the column (14) to drive the bobbin-changing module (15) and the paper tube loading module (16) to perform a rotating action.

3. The hanging bobbin dropping device according to claim 2, wherein The suspended bobbin-changing robot (1) further includes an upper cross beam (11), a horizontal running part (12), a lower cross beam (17) and a horizontal guiding part (18). The upper cross beam (11) is connected to the column (14) through the rotating part (13); the horizontal running part (12) is arranged on the upper cross beam (11) and is in sliding cooperation with the air guide rail; the lower cross beam is arranged below the column (14), and the horizontal guiding part (18) is arranged on the lower cross beam (17) and is in sliding cooperation with the ground guiding groove.

4. A suspension type bobbin dropping device according to claim 2, wherein, The bobbin-changing module (15) includes a bobbin-changing lifting part (151) and a bobbin-changing part (152). The bobbin-changing lifting part (151) is arranged on the column (14); the bobbin-changing part (152) includes a bobbin-changing transverse movement mechanism (1522) and a bobbin-changing pushing mechanism (1523). The bobbin-changing lifting part (151) drives the bobbin-changing transverse movement mechanism (1522) to move along the Z-axis direction; the bobbin-changing transverse movement mechanism (1522) drives the bobbin-changing pushing mechanism (1523) to move along the Y-axis direction.

5. The hanging bobbin dropping device according to claim 4, characterized in that, The bobbin lowering and lifting part (151) includes a first driving mechanism, a first transmission mechanism, and a first linear guide mechanism (1514). The bobbin part (152) further includes a connecting plate (1521) for installing the bobbin transverse movement mechanism (1522). The first driving mechanism is arranged on the column (14) and is in transmission connection with the connecting plate (1521) through the first transmission mechanism; the connecting plate (1521) is slidably connected with the column (14) through the first linear guide mechanism (1514); The bobbin transverse movement mechanism (1522) includes a transverse movement frame (15221), a second driving mechanism, a second transmission mechanism, and a second linear guide mechanism (15224). The second driving mechanism is arranged on the transverse movement frame (15221) and is connected with the connecting plate (1521) through the second transmission mechanism. The transverse movement frame (15221) is slidably connected with the connecting plate (1521) through the second linear guide mechanism (15224); The bobbin pushing-out mechanism (1523) includes a bobbin receiving rod (15231), a bobbin pushing-out ring (15233), and a bobbin driving assembly. The bobbin driving assembly includes a third driving mechanism, a third transmission mechanism, and a third linear guide mechanism (15234); the bobbin receiving rod (15231) is used for receiving full-spool silk ingots (32). The third driving mechanism is arranged on the transverse movement frame (15221) and is connected with the bobbin pushing-out ring (15233) through the third transmission mechanism; the bobbin pushing-out ring (15233) is slidably connected with the bobbin receiving rod (15231) through the third linear guide mechanism (15234).

6. The hanging bobbin falling device according to claim 2, wherein The loading lifting mechanism (161) includes a fourth driving mechanism, a fourth transmission mechanism, and a fourth linear guide mechanism (1613). The fourth driving mechanism is arranged on the connecting frame (1621) of the loading paper tube part (162) and is connected with the column (14) through the fourth transmission mechanism; the connecting frame (1621) is connected with the column (14) through the fourth linear guide mechanism (1613); The loading transverse movement mechanism (1622) includes a transverse movement frame (16221), a fifth driving mechanism, a fifth transmission mechanism, and a fifth linear guide mechanism (16223). The fifth driving mechanism is arranged on the transverse movement frame (16221) and is connected with the connecting frame (1621) through the fifth transmission mechanism; the transverse movement frame (16221) is connected with the connecting frame (1621) through the fifth linear guide mechanism (16223); The offset adjustment mechanism (1624) includes an offset adjustment frame (16241), a sixth driving mechanism, and a sixth linear guide mechanism (16243). The offset adjustment frame (16241) is connected with the transverse movement frame (16221) through the sixth driving mechanism and is connected with the transverse movement frame (16221) through the sixth linear guide mechanism (16243); The loading and pushing mechanism (1623) includes a seventh driving mechanism, a sixth transmission mechanism, a loading and pushing ring (16232), a loading receiving rod (16233), and a seventh linear guide mechanism (16234). The loading receiving rod (16233) is arranged on the offset adjustment frame (16241). The seventh driving mechanism drives the loading and pushing ring (16232) to reciprocate along the loading receiving rod (16233), and the loading and pushing ring (16232) is connected to the loading receiving rod (16233) through the seventh linear guide mechanism (16234).

7. The hanging bobbin doffing device according to claim 6, characterized in that, The vision camera includes an industrial camera (1625), and the industrial camera (1625) is arranged at the free end of the loading receiving rod (16233).

8. A hanging bobbin dropping device according to claim 1, characterized in that, It further includes a paper tube temporary storage rack (2). The paper tube temporary storage rack (2) is formed by splicing frame structures and is separated by partitions (22) to form a plurality of paper tube slots for placing empty paper tubes (21).

9. A paper tube loading method based on visual positioning, characterized in that, It includes a hanging bobbin device according to any one of claims 1-8, and further includes the following steps: Step 1: The hanging bobbin robot (1) carries an empty paper tube (21) and runs to the docking position with the air shaft (31) of the winding machine (3). Step 2: The vision positioning mechanism collects and calculates the deviation value between the center coordinates of the empty paper tube (21) and the center coordinates of the air shaft (31). Step 3: According to the deviation value, drive the three-dimensional motion mechanism to correct and adjust the relative positions of the empty paper tube (21) and the air shaft (31). Step 4: Repeat Step 2 and Step 3 until the deviation value meets the set value accuracy requirement, and then perform the paper tube loading operation.

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