Bobbin yarn feeding and discharging equipment based on visual inspection

Abstract

The invention belongs to the technical field of bobbin yarn roll feeding and discharging, and particularly discloses bobbin yarn feeding and discharging equipment based on visual inspection, which comprises a bottom frame, a placing mechanism is arranged in the middle of the upper end of the bottom frame, a yarn frame is arranged above the placing mechanism, and placing rods are uniformly arranged on two sides of the yarn frame; one end of each placing rod is obliquely arranged, the outer walls of the multiple placing rods are sleeved with yarn roll bodies, supporting bases are arranged on the two sides of the upper end of the bottom frame, collaborative robots are arranged at the upper ends of the two supporting bases, and bobbin yarn clamping mechanisms are arranged at one ends of the two collaborative robots; through cooperation of the end locking mechanism and the three sets of circumferential self-adaptive clamping mechanisms, the effects of stable and lossless grabbing and automatic feeding and discharging of inclined bobbin yarn are achieved, the production efficiency is effectively improved, and the labor intensity is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of bobbin yarn loading and unloading, and particularly discloses a bobbin yarn loading and unloading equipment based on visual detection. BACKGROUND

[0002] In the production process of the glass fiber industry, the loading and unloading operation of the bobbin yarn package is an important hub connecting the spinning process and the subsequent processing link. The operation requires that the empty bobbin package is accurately distributed from the yarn car to the production line, and the full bobbin package is transferred from the production line to the transport yarn car. Since the full bobbin package has a large density and a heavy weight, the weight of a single yarn package is usually between 15-25 kilograms, and the bobbin on the yarn car often presents an irregularly inclined state due to transportation vibration or placement error, which puts special requirements on the stability and accuracy of the loading and unloading operation.

[0003] At present, there are mainly two operation modes for the loading and unloading of the bobbin yarn package: one is the traditional manual carrying, and the worker needs to repeatedly carry the heavy yarn package with a weight of 15-25 kilograms, which not only has a large labor intensity and low efficiency, but also has a safety risk of yarn package sliding when handling the inclined bobbin; the other is to use a robot for automatic carrying, but the existing technology has obvious limitations. The existing mechanical hand can only place the bobbin on the support frame of the yarn car with regular structure, but in actual production, the bobbin on the yarn car often presents an irregularly inclined state due to transportation vibration and other reasons. In the face of such situations, the existing mechanical hand can only clamp one end of the bobbin and assist with bottom lifting. Since the weight of the full bobbin yarn is concentrated in the middle package area, when the bobbin is inclined, only relying on end clamping and bottom lifting lacks effective constraint on the main body of the yarn package, and in the moving process, the yarn package is easy to shake or even slide due to the deviation of the center of gravity, which not only affects the operation safety but also restricts the production efficiency, and it is difficult to meet the requirements of modern glass fiber production on automation and reliability. SUMMARY

[0004] The application aims to solve the problems in the prior art and provides a bobbin yarn loading and unloading equipment based on visual detection.

[0005] In order to achieve the above object, the application provides a yarn pipe feeding and discharging equipment based on visual detection, which comprises a bottom frame, a placing mechanism arranged at the middle part of the upper end of the bottom frame, a yarn frame arranged above the placing mechanism, placing rods evenly arranged on both sides of the yarn frame, the shape of one end of the placing rods being arranged in an inclined manner, yarn bodies sleeved on the outer walls of the placing rods, support seats arranged on both sides of the upper end of the bottom frame, collaborative robots arranged on the upper ends of the two support seats, a pipe yarn clamping mechanism arranged at one end of the two collaborative robots, the pipe yarn clamping mechanism comprising a connecting plate, an end head locking mechanism arranged on one side of the upper part of the connecting plate, a visual detection camera connected to the upper end of the connecting plate, fixed plates arranged on both sides of the upper part of the connecting plate, the number of the fixed plates being two, the shape of the two fixed plates being arranged in an inclined manner, clamping mechanisms arranged on one side of the lower part of the connecting plate and one side of the fixed plates, the number of the clamping mechanisms being three groups, the clamping mechanisms being arranged in a circumferential direction, a battery pack embedded in the middle part of the inner wall of the bottom frame, and transition storage racks connected to both sides of the upper end of the connecting frame.

[0006] Preferably, the placing mechanism comprises a connecting frame, the lower end of the connecting frame being in contact with the upper end of the bottom frame, the one end of the connecting frame being provided with baffle plates, one side of the two baffle plates being in contact with both sides of the yarn frame, the inner walls of the connecting frame being provided with conveying chains on both sides, the upper end of the connecting frame being provided with guide plates on one side corresponding to the two conveying chains, the upper ends of the two conveying chains being in contact with both sides of the lower end of the yarn frame, and the one end of the yarn frame being in contact with one side of the baffle plate.

[0007] Preferably, the end head locking mechanism comprises support blocks, the number of the support blocks being three, one end of the three support blocks being connected with a connecting cylinder, a driving motor being connected with the inner wall on one side of the middle part of the connecting cylinder, the output end of the driving motor extending through one side of the connecting cylinder, the output end of the driving motor being connected with a rotating block, the shape of the rotating block being arranged in a trilobal structure.

[0008] Preferably, the outer walls of the connecting cylinders are circumferentially provided with connecting sliding rails, the number of the connecting sliding rails being three, one side of the three connecting sliding rails being connected with one side of the connecting plate respectively, the outer walls of the three connecting sliding rails being slidingly connected with sliding blocks, one side of the sliding blocks being connected with L-shaped plates, one side of the L-shaped plates being connected with clamping blocks, openings being formed in the connecting cylinder corresponding to the plurality of clamping blocks, and the plurality of clamping blocks being arranged inside the openings respectively.

[0009] Preferably, one side of the three L-shaped plates is connected with first rotating shafts, outer walls of the three first rotating shafts are sleeved with pull rods, one side of the rotating block is uniformly distributed with second rotating shafts in the circumference, one end of the three pull rods is respectively sleeved with the outer walls of the second rotating shafts, both ends of the pull rods are respectively provided with through holes, and the first rotating shafts and the second rotating shafts are respectively located in the through holes.

[0010] Preferably, the clamping mechanism comprises a moving slide rail, a moving block is slidably connected to the outer wall of the moving slide rail, slide blocks are connected to both sides of the moving block, and electric telescopic rods are connected to the middle parts of one side of the slide blocks.

[0011] Preferably, the cylinder ends of the moving slide rails and the electric telescopic rods of the first group of clamping mechanisms are connected to one side of the fixed plate, the cylinder ends of the moving slide rails and the electric telescopic rods of the second group of clamping mechanisms are connected to the other side of the fixed plate, and the cylinder ends of the moving slide rails and the electric telescopic rods of the third group of clamping mechanisms are connected to the lower part of the connecting plate.

[0012] Preferably, one end of the moving block is connected with a C-shaped plate, pin shafts are rotatably connected to both sides of the inner wall of the C-shaped plate, a stabilizing frame is rotatably connected between the pin shafts, a stabilizing block is connected to one end of the stabilizing frame, and connecting blocks are connected to both sides of the stabilizing block.

[0013] Preferably, an adjusting motor is connected to one side of the C-shaped plate, the output end of the adjusting motor extends to the inside of the C-shaped plate, the output end of the adjusting motor is connected with an adjusting gear, the adjusting gear is meshingly connected with an adjusting tooth block on one side, and the adjusting tooth block is connected with one side of the lower end of the stabilizing frame.

[0014] Preferably, rudders are arranged at the lower ends of the bottom frames, the two rudders are diagonally and symmetrically arranged with the center of the bottom frame as the reference, and universal wheels are arranged at the lower ends of the bottom frames and correspond to one side of each rudder.

[0015] Compared with the prior art, the present application has the following beneficial effects: The end locking mechanism rotates the rotating block through the driving motor, and synchronously shrinks the three clamping blocks in the radial direction through the linkage of the pull rods and the L-shaped plates, firmly clamps the pipe cylinder of the pipe yarn end part from three directions, the three-point synchronous locking mode ensures the firmness of the pipe yarn end part, and provides a solid foundation for subsequent carrying.

[0016] Through three groups of circumferentially arranged clamping mechanisms, self-adaptive adjustment can be carried out according to the actual posture of the cheese, the electric telescopic rod drives the moving block to move radially, the adjusting motor drives the stable frame to rotate around the pin shaft through the transmission of the adjusting gear and the adjusting tooth block, so that the stable block and the connecting block are accurately attached to the outer wall of the cheese and contact the end, which can effectively hold the cheese in an inclined state and prevent the cheese from shaking or falling during the carrying process.

[0017] The end locking mechanism cooperates with the three groups of clamping mechanisms to form double protection of end clamping and middle holding, the end locking provides the main grabbing force, and the middle holding constrains the inertia of the heavy cheese body, the cooperation ensures the stability of grabbing and avoids damage to the surface of the yarn, and is suitable for carrying operation of heavy cheese.

[0018] The device realizes autonomous movement through the steering wheel and universal wheel, the visual detection camera carries out positioning identification, the collaborative robot executes the grabbing action, and the grabbing, carrying and placing of the cheese can be automatically completed, which significantly reduces the labor intensity and reduces the risk of occupational injury, and the device can continuously carry out feeding and discharging operations, carries the full cheese to the cheese frame while supplementing the empty cheese to the production line, realizes the automatic circulation of materials, and significantly improves the overall efficiency of the production line. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall structure schematic diagram of the device of the application; Figure 2 It is the overall sectional view of the device of the application; Figure 3 It is the connection structure schematic diagram of the steering wheel, universal wheel and bottom frame of the application; Figure 4 It is the connection structure schematic diagram of the placing mechanism and the bottom frame of the application; Figure 5 It is the structure schematic diagram of the placing mechanism of the application; Figure 6 It is the structure schematic diagram of the cheese clamping mechanism of the application; Figure 7 It is the mounting structure schematic diagram of the support block and the connecting cylinder of the application; Figure 8 It is the connection structure schematic diagram of the L-shaped plate and the clamping block of the application; Figure 9 It is the connection structure schematic diagram of the rotating block, the first rotating shaft, the pull rod and the second rotating shaft of the application; Figure 10 It is the connection structure schematic diagram of the driving motor and the rotating block of the application; Figure 11 It is the connection structure schematic diagram of the stable frame, the pin shaft and the C-shaped plate of the application; Figure 12 Figure is a schematic diagram of the connection structure of the adjusting gear and the adjusting tooth block of the application.

[0020] In the figure: 1, bottom frame; 2, connecting frame; 3, baffle; 4, conveying chain; 5, guide plate; 6, yarn frame; 7, placing rod; 8, yarn body; 9, supporting seat; 10, collaborative robot; 11, connecting plate; 12, supporting block; 13, connecting cylinder; 14, driving motor; 15, rotating block; 16, connecting sliding rail; 17, sliding block; 18, L-shaped plate; 19, clamping block; 20, first rotating shaft; 21, second rotating shaft; 22, pull rod; 23, opening; 24, fixed plate; 25, moving sliding rail; 26, moving block; 27, sliding block; 28, electric telescopic rod; 29, C-shaped plate; 30, pin shaft; 31, stabilizing frame; 32, stabilizing block; 33, connecting block; 34, adjusting motor; 35, adjusting gear; 36, adjusting tooth block; 37, visual detection camera; 38, steering wheel; 39, universal wheel; 40, battery pack; 41, transition storage rack. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purposes, features and advantages of the present application, the present application will be further described in detail below in combination with the accompanying drawings and specific embodiments.

[0022] In the following description, a lot of specific details are set forth in order to provide a thorough understanding of the present application, however, the present application can also be implemented in other ways different from those described herein, therefore, the present application is not limited to the specific embodiments disclosed below.

[0023] As Figures 1-12The illustrated vision-based yarn loading and unloading device includes a base frame 1. A placement mechanism is located at the upper center of the base frame 1. A yarn carriage 6 is located above the placement mechanism. Placement rods 7 are evenly arranged on both sides of the yarn carriage 6. One end of each placement rod 7 is inclined. Yarn bundle bodies 8 are fitted onto the outer walls of the multiple placement rods 7. Support seats 9 are located on both sides of the upper end of the base frame 1. Collaborative robots 10 are mounted on the upper ends of the two support seats 9. A yarn clamping mechanism is located at one end of each collaborative robot 10. The yarn clamping mechanism includes a connecting plate 11. An end locking mechanism is located on the upper side of one side of the connecting plate 11. A vision inspection camera is connected to the upper end of the connecting plate 11. 37. Fixing plates 24 are provided on the upper part of both sides of the connecting plate 11. There are two fixing plates 24. The two fixing plates 24 are set in an inclined shape. Clamping mechanisms are provided on one side of the two fixing plates 24 and the lower part of one side of the connecting plate 11. There are three sets of clamping mechanisms. The three sets of clamping mechanisms are arranged circumferentially. A battery pack 40 is embedded in the middle of the inner wall of the bottom frame 1. Transition storage racks 41 are connected to both sides of the connecting frame 2 at the upper end of the bottom frame 1. Steering wheels 38 are provided at the lower end of the bottom frame 1. The two steering wheels 38 are arranged diagonally symmetrically with the center of the bottom frame 1 as the reference. Universal wheels 39 are provided at the lower end of the bottom frame 1 on one side of each of the two steering wheels 38. The base frame 1 provides a stable installation platform for each mechanism. The inclined placement rod 7 can adapt to the inclined storage requirements of the yarn bobbin body 8, avoiding the yarn bobbin from being squeezed and deformed. The collaborative robot 10 can drive the tube yarn clamping mechanism to achieve multi-dimensional movement, covering the tube yarn transfer path between the yarn cart 6 and the production line. The visual inspection camera 37 can collect the position, posture and appearance data of the yarn bobbin in real time, providing accurate basis for clamping and positioning. The three sets of circumferentially arranged clamping mechanisms can work together with the end locking mechanism to form multi-directional constraints on the tube yarn. The battery pack 40 can realize offline power supply for the equipment to meet the needs of mobile operation in the workshop. The diagonally symmetrical steering wheel 38 and the universal wheel 39 can work together to realize flexible movement such as rotating and translating the equipment in place, which is convenient for quickly switching work positions. The transition storage rack 41 can be used to temporarily store empty tube yarn bobbins or yarn bobbins to be transferred, connecting the loading and unloading process.

[0024] like Figures 4-5 As shown: The placement mechanism includes a connecting frame 2. The lower end of the connecting frame 2 contacts the upper end of the bottom frame 1. A baffle 3 is provided at one end of the connecting frame 2. One side of the two baffles 3 contacts the two sides of the yarn frame 6 respectively. Conveyor chains 4 are provided on both sides of the inner wall of the connecting frame 2. Guide plates 5 are provided at the upper end of the connecting frame 2 corresponding to one side of the two conveyor chains 4. The upper ends of the two conveyor chains 4 contact the two sides of the lower end of the yarn frame 6. One end of the yarn frame 6 contacts one side of the baffle 3. The placing mechanism can realize accurate positioning and automatic loading and unloading of the yarn frame 6 on the device. The connecting frame 2 bears the weight of the yarn frame 6 and the cheese. The conveying chain 4 can drive the yarn frame 6 to move in a set direction through forward and reverse rotation, complete the loading and unloading of the yarn frame 6, and the guide plate 5 can limit the two sides of the yarn frame 6 during movement to prevent the yarn frame 6 from deviating or overturning, ensuring accurate movement trajectory. The baffle 3 can block the end of the yarn frame 6 to make the yarn frame 6 stop at the preset position, ensure that the placing rod 7 on the yarn frame 6 is aligned with the grabbing track of the cheese clamping mechanism, and provide a stable positioning basis for subsequent cheese grabbing work.

[0025] As shown in Figures 6-10 The end locking mechanism includes three support blocks 12, one end of the three support blocks 12 is connected with a connecting cylinder 13, the inner wall of the connecting cylinder 13 is connected with a driving motor 14 at the middle of one side, the output end of the driving motor 14 extends through the connecting cylinder 13 to one side, the output end of the driving motor 14 is connected with a rotating block 15, one side of the rotating block 15 is rotatably connected with the upper part of one side of the connecting plate 11, the shape of the rotating block 15 is a trilobal structure, the outer wall of the connecting cylinder 13 is circumferentially provided with three connecting sliding rails 16, one side of each of the three connecting sliding rails 16 is connected with one side of the connecting plate 11, the outer wall of each of the three connecting sliding rails 16 is slidably connected with a sliding block 17, one side of each of the plurality of sliding blocks 17 is connected with an L-shaped plate 18, one side of each of the plurality of L-shaped plates 18 is connected with a clamping block 19, one end of each of the clamping blocks 19 is made of silicone material, the connecting cylinder 13 is provided with an opening 23 corresponding to each of the plurality of clamping blocks 19, each of the plurality of clamping blocks 19 is located inside the corresponding opening 23, one side of each of the three L-shaped plates 18 is connected with a first rotating shaft 20, the outer wall of each of the three first rotating shafts 20 is sleeved with a pull rod 22, a plurality of second rotating shafts 21 are circumferentially and uniformly distributed on one side of the rotating block 15, one end of each of the three pull rods 22 is sleeved on the outer wall of each of the plurality of second rotating shafts 21, a through hole is formed at both ends of each of the plurality of pull rods 22, and each of the plurality of first rotating shafts 20 and the plurality of second rotating shafts 21 is located inside the corresponding through hole; The end locking mechanism realizes centering and clamping from the end of the cheese, ensuring that the cheese does not slide in the axial direction during transfer. The three support blocks 12 can stably support the connecting cylinder 13 to ensure the overall structural strength of the mechanism. The driving motor 14 can provide power to drive the trilobal rotating block 15 to rotate and pull the pull rod 22 to move through the second rotating shaft 21. The pull rod 22 can drive the L-shaped plate 18 to move radially and synchronously along the connecting sliding rail 16 through the first rotating shaft 20, so as to open and close the clamping block 19. The connecting sliding rail 16 and the sliding block 17 can guide the movement direction of the L-shaped plate 18 to ensure that the three clamping blocks 19 move synchronously. The opening 23 can provide space for the expansion and contraction of the clamping block 19 to avoid the clamping action being blocked by the connecting cylinder 13. The three circumferentially distributed clamping blocks 19 can uniformly apply clamping force from the inner hole or outer wall of the end of the cheese, adapt to cheese barrels of different diameters, and improve the stability and universality of end locking.

[0026] As Figures 11-12 shown: the clamping mechanism includes a moving slide rail 25, the outer wall of the moving slide rail 25 is slidingly connected with a moving block 26, both sides of the moving block 26 are connected with a sliding block 27, the middle of one side of the two sliding blocks 27 is connected with an electric telescopic rod 28, the number of the electric telescopic rod 28 is two, the piston end of the two electric telescopic rods 28 is respectively connected with one side of the two sliding blocks 27, the moving slide rail 25 and the cylinder end of the electric telescopic rod 28 of the first set of clamping mechanisms are connected with one side of the fixed plate 24, the moving slide rail 25 and the cylinder end of the electric telescopic rod 28 of the second set of clamping mechanisms are connected with the other side of the fixed plate 24, the moving slide rail 25 and the cylinder end of the electric telescopic rod 28 of the third set of clamping mechanisms are connected with the lower part of the connecting plate 11, one end of the moving block 26 is connected with a C-shaped plate 29, the inner wall of both sides of the C-shaped plate 29 is rotatably connected with a pin shaft 30, a stabilizing frame 31 is rotatably connected between the two pin shafts 30, one end of the stabilizing frame 31 is connected with a stabilizing block 32, both sides of the stabilizing block 32 are connected with a connecting block 33, one side of the C-shaped plate 29 is connected with an adjusting motor 34, the output end of the adjusting motor 34 extends to the inside of the C-shaped plate 29, the output end of the adjusting motor 34 is connected with an adjusting gear 35, one side of the adjusting gear 35 is meshingly connected with an adjusting tooth block 36, the upper end of the adjusting tooth block 36 is connected with one side of the lower end of the stabilizing frame 31. The three sets of clamping mechanisms can provide auxiliary clamping and close support from both sides and the lower part of the cheese, cooperate with the end locking mechanism to form triple stable constraint, the electric telescopic rod 28 can drive the sliding block 27 to drive the moving block 26 to slide along the moving slide rail 25, adjust the distance between the stabilizing frame 31 and the cheese body 8, realize the approach or loosening of the clamping mechanism, the moving slide rail 25 and the moving block 26 can ensure the moving direction of the stabilizing frame 31 to be accurate, avoid deviation, the C-shaped plate 29 can be used as the installation carrier of the stabilizing frame 31, the pin shaft 30 can make the stabilizing frame 31 rotate around it, realize attitude adjustment, the adjusting motor 34 can drive the stabilizing frame 31 to rotate to the angle matched with the cheese outer wall through the meshing transmission of the adjusting gear 35 and the adjusting tooth block 36, adapt to cheese with different inclination angles, the stabilizing frame 31, the stabilizing block 32 and the connecting block 33 can increase the contact area with the cheese, ensure that the inner side wall of the stabilizing frame 31 fully close to the cheese outer wall, the clamping mechanisms on the two inclined fixed plates 24 can realize two-sided embrace from both sides of the cheese, the third set of clamping mechanisms can realize lifting from the lower part of the cheese, effectively offset the lateral component of the cheese when it is inclined or under heavy load, prevent the cheese from shaking or falling.

[0027] Working principle: the device starts to work under the power supply of the battery pack 40, the two rudders 38 and the two universal wheels 39 at the bottom of the bottom frame 1 work together to drive the equipment to move along the predetermined path to the target work station, when the device reaches the specified position, the conveying chain 4 starts to work, under the guidance of the guide plate 5, the full-load empty tube spool yarn frame 6 is accurately conveyed above the connecting frame 2, the baffle 3 blocks one end of the yarn frame 6 to ensure that the yarn frame 6 is parked at the accurate position.

[0028] The collaborative robot 10 drives the tube yarn clamping mechanism to approach the empty tube spool above the target yarn frame 6, the visual detection camera 37 installed at the upper end of the connecting plate 11 starts to work to identify the position of the empty tube spool, then the tube yarn clamping mechanism clamps the empty tube spool on one side of the yarn frame 6 and temporarily places it on the transition storage rack 41, then the collaborative robot 10 drives the tube yarn clamping mechanism to approach the full tube yarn group body 8 on the production line, and the visual detection camera 37 shoots it from multiple angles, while the end locking mechanism approaches the tube of the full tube yarn group body 8 on the production line, at this time the clamping mechanism is in an open state.

[0029] The driving motor 14 starts to work, drives the rotating block 15 in the three-leaf structure to rotate, the rotating block 15 drives the three pull rods 22 through the second rotating shaft 21 thereon, the pull rods 22 drive the three L-shaped plates 18 to make radial synchronous contraction movement along the connecting slide rail 16 through the first rotating shaft 20, so that the clamping block 19 smoothly extends from the opening 23 of the connecting cylinder 13, and clamps the tube at one end of the yarn group body 8 from three directions at the same time, completing the firm locking of the end.

[0030] At the same time of the action of the end locking mechanism, in view of the possible inclined state of the yarn group body 8, the three groups of circumferentially arranged clamping mechanisms start to work together, the electric telescopic rod 28 pushes the sliding block 27, drives the moving block 26 to move along the moving slide rail 25, so that the stabilizing frame 31 contacts the outer wall of the yarn group body 8, the adjusting motor 34 drives the adjusting gear 35 to rotate; the adjusting gear 35 meshes with the adjusting tooth block 36 to drive the adjusting tooth block 36 to move along its track, since the upper end of the adjusting tooth block 36 is fixedly connected with one side of the lower end of the stabilizing frame 31, the movement of the adjusting tooth block 36 drives the stabilizing frame 31 to rotate around the pin shaft 30, so as to realize the angle adjustment of the overall posture of the stabilizing frame 31, when the stabilizing frame 31 rotates to completely match the outer wall of the yarn group body 8, the inner wall of the stabilizing frame 31 will fully match the outer wall of the yarn group, at the same time, the stabilizing block 32 and the connecting block 33 contact one end of the yarn group body 8, the three groups of clamping mechanisms circumferentially clamp the yarn group body 8, so as to improve the stability of the yarn group body 8 during movement.

[0031] After the grabbing is completed, the collaborative robot 10 transports the yarn ball body 8 to the placement rod 7, and during the placement process, first, the electric telescopic rod 28 of the clamping mechanism is retracted to release the constraint on the middle part of the yarn ball body 8; then the driving motor 14 of the end head locking mechanism is reversed to make the clamping block 19 loosen the end of the yarn ball body 8, and the yarn ball body 8 is placed stably on the placement rod 7 of the yarn frame 6.

[0032] First, the empty yarn bobbin on the yarn frame 6 is transferred to the transition storage rack 41, then the full yarn ball body 8 is placed on the placement rod 7 from the production line, and finally the empty yarn bobbin on the transition storage rack 41 is transported to the production line. When the work of one station is completed, the equipment automatically moves to the next station to continue the work.

[0033] When the placement rod 7 on the yarn frame 6 is full of yarn ball bodies 8, the equipment automatically drives to the loading and unloading area, the conveying chain 4 starts to transport the full yarn frame 6, and at the same time, a new empty yarn frame 6 is loaded. Then the equipment returns to the working area and starts a new round of work cycle; during the whole process, the battery pack 40 provides stable power support for all mechanisms to ensure the continuous operation of the equipment.

[0034] The above shows and describes the basic principles, main features and advantages of the present application. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application.

Claims

1. A yarn loading and unloading device based on vision detection, comprising a base frame (1), characterized in that, A placement mechanism is provided at the middle of the upper end of the bottom frame (1). A yarn frame (6) is provided above the placement mechanism. Placement rods (7) are evenly arranged on both sides of the yarn frame (6). One end of the placement rod (7) is inclined. Yarn ball bodies (8) are sleeved on the outer walls of multiple placement rods (7). Support seats (9) are provided on both sides of the upper end of the bottom frame (1). Collaborative robots (10) are provided on the upper ends of the two support seats (9). A yarn tube clamping mechanism is provided at one end of the two collaborative robots (10). The yarn tube clamping mechanism includes a connecting plate (11). A yarn tube clamping mechanism is provided on the upper part of one side of the connecting plate (11). The end locking mechanism is provided with a visual inspection camera (37) connected to the upper end of the connecting plate (11). Fixing plates (24) are provided on the upper part of both sides of the connecting plate (11). There are two fixing plates (24). The two fixing plates (24) are set in an inclined shape. Clamping mechanisms are provided on the lower part of one side of the two fixing plates (24) and one side of the connecting plate (11). There are three sets of clamping mechanisms. The three sets of clamping mechanisms are arranged circumferentially. A battery pack (40) is embedded in the middle of the inner wall of the bottom frame (1). Transition storage racks (41) are connected to both sides of the upper end of the bottom frame (1) corresponding to the connecting frame (2).

2. The yarn loading and unloading device based on vision detection according to claim 1, characterized in that, The placement mechanism includes a connecting frame (2), the lower end of which contacts the upper end of the bottom frame (1), a baffle (3) is provided at one end of the connecting frame (2), one side of the two baffles (3) respectively contacts the two sides of the yarn frame (6), a conveyor chain (4) is provided on both sides of the inner wall of the connecting frame (2), a guide plate (5) is provided at the upper end of the connecting frame (2) corresponding to one side of the two conveyor chains (4), the upper ends of the two conveyor chains (4) contact the two sides of the lower end of the yarn frame (6), and one end of the yarn frame (6) contacts one side of the baffle (3).

3. The yarn loading and unloading device based on vision detection according to claim 1, characterized in that, The end locking mechanism includes a support block (12), and there are three support blocks (12). One end of each of the three support blocks (12) is connected to a connecting cylinder (13). A drive motor (14) is connected to the middle of one side of the inner wall of the connecting cylinder (13). The output end of the drive motor (14) extends through to one side of the connecting cylinder (13). A rotating block (15) is connected to the output end of the drive motor (14). One side of the rotating block (15) is rotatably connected to the upper part of one side of the connecting plate (11). The rotating block (15) is arranged in a trilobal structure.

4. The yarn loading and unloading device based on vision detection according to claim 3, characterized in that, The outer wall of the connecting cylinder (13) is provided with connecting slide rails (16) in a circumferential manner. There are three connecting slide rails (16). One side of each of the three connecting slide rails (16) is connected to one side of the connecting plate (11). The outer wall of the three connecting slide rails (16) is slidably connected with sliding blocks (17). One side of each sliding block (17) is connected with an L-shaped plate (18). One side of each L-shaped plate (18) is connected with a clamping block (19). The connecting cylinder (13) is provided with openings (23) corresponding to the clamping blocks (19). The clamping blocks (19) are located inside the openings (23).

5. A yarn loading and unloading device based on vision detection according to claim 4, characterized in that, One side of each of the three L-shaped plates (18) is connected to a first rotating shaft (20). The outer wall of each of the three first rotating shafts (20) is fitted with a pull rod (22). The rotating block (15) is circumferentially distributed with second rotating shafts (21). One end of each of the three pull rods (22) is fitted onto the outer wall of the multiple second rotating shafts (21). Both ends of the multiple pull rods (22) are provided with through holes. The multiple first rotating shafts (20) and the multiple second rotating shafts (21) are respectively located inside the multiple through holes.

6. A yarn loading and unloading device based on vision detection according to claim 1, characterized in that, The clamping mechanism includes a movable slide rail (25), a movable block (26) is slidably connected to the outer wall of the movable slide rail (25), and sliders (27) are connected to both sides of the movable block (26). An electric telescopic rod (28) is connected to the middle of one side of each of the two sliders (27). There are two electric telescopic rods (28), and the piston ends of the two electric telescopic rods (28) are respectively connected to one side of each of the two sliders (27).

7. A yarn loading and unloading device based on vision detection according to claim 6, characterized in that, The cylinder ends of the movable slide rail (25) and electric telescopic rod (28) of the first clamping mechanism are connected to the fixed plate (24) on one side. The cylinder ends of the movable slide rail (25) and electric telescopic rod (28) of the second clamping mechanism are connected to the fixed plate (24) on the other side. The cylinder ends of the movable slide rail (25) and electric telescopic rod (28) of the third clamping mechanism are connected to the lower part of the connecting plate (11).

8. A yarn loading and unloading device based on vision detection according to claim 6, characterized in that, One end of the movable block (26) is connected to a C-shaped plate (29), and pins (30) are rotatably connected to both sides of the inner wall of the C-shaped plate (29). A stabilizing frame (31) is rotatably connected between the two pins (30), and a stabilizing block (32) is connected to one end of the stabilizing frame (31). Connecting blocks (33) are connected to both sides of the stabilizing block (32).

9. A yarn loading and unloading device based on vision detection according to claim 7, characterized in that, An adjustment motor (34) is connected to one side of the C-shaped plate (29). The output end of the adjustment motor (34) extends through into the interior of the C-shaped plate (29). An adjustment gear (35) is connected to the output end of the adjustment motor (34). An adjustment tooth block (36) is meshed with one side of the adjustment gear (35). The upper end of the adjustment tooth block (36) is connected to one side of the lower end of the stabilizer (31).

10. A yarn loading and unloading device based on vision detection according to claim 1, characterized in that, The bottom of the base frame (1) is provided with a steering wheel (38). The two steering wheels (38) are arranged diagonally symmetrically with the center of the base frame (1) as the reference. The bottom of the base frame (1) is provided with a universal wheel (39) on one side of each of the two steering wheels (38).

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