A yarn tube feeding and discharging device based on visual detection

Abstract

The application belongs to the technical field of cop upper and lower material loading, and specifically discloses a cop upper and lower material loading device based on visual detection, which comprises a bottom frame, a placing mechanism arranged at the middle of the upper end of the bottom frame, a yarn frame arranged above the placing mechanism, placing rods evenly arranged on the two 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 plurality of placing rods, support seats arranged on the two sides of the upper end of the bottom frame, collaborative robots arranged on the upper ends of the two support seats, and cop clamping mechanisms arranged at one end of the two collaborative robots. The cop upper and lower material loading device achieves the effect of stable, lossless grabbing and automatic upper and lower material loading of the inclined cop through the cooperation of the end locking mechanism and the three sets of circumferential self-adaptive clamping mechanisms, effectively improves the production efficiency and reduces the labor intensity.

Description

Technical Field

[0001] This invention belongs to the field of yarn bobbin loading and unloading, and specifically discloses a yarn bobbin loading and unloading device based on vision detection. Background Technology

[0002] In the fiberglass industry production process, the loading and unloading of yarn bobbins is a crucial link between the spinning process and subsequent processing stages. This operation requires the precise delivery of empty yarn bobbins from the yarn cart to the production line, while simultaneously transferring full yarn bobbins from the production line to the transport yarn cart. Due to the high packing density and heavy weight of full yarn bobbins (typically weighing between 15-25 kg per bobbin), and the irregular tilting of yarn bobbins on the yarn cart due to transport vibrations or placement errors, the stability and precision of the loading and unloading operations are subject to special requirements.

[0003] Currently, there are two main methods for loading and unloading yarn bobbins: one is traditional manual handling, where workers repeatedly move heavy yarn bobbins weighing 15-25 kg, which is not only labor-intensive and inefficient, but also poses a safety risk of yarn bobbins slipping when handling tilted bobbins; the other is automated robotic handling, but existing technology has significant limitations. Current robotic arms can only place yarn bobbins on structurally regular yarn cart support frames, while in actual production, yarn bobbins on the yarn cart are often irregularly tilted due to transportation vibrations. In such cases, existing robotic arms can only clamp one end of the yarn bobbin and supplement it with bottom support. Since the weight of a full yarn bobbin is concentrated in the central winding area, when the bobbin is tilted, relying solely on end clamping and bottom support lacks effective constraint on the yarn bobbin itself. During movement, the center of gravity shifts, causing the yarn bobbin to sway or even slip, affecting operational safety and production efficiency, and failing to meet the automation and reliability requirements of modern fiberglass production. Summary of the Invention

[0004] The purpose of this invention is to address the shortcomings of existing technologies by proposing a vision-based yarn loading and unloading device.

[0005] To achieve the above objectives, the present invention provides a vision-based yarn loading and unloading device, comprising a base frame, a placement mechanism disposed at the upper center of the base frame, a yarn carriage frame disposed above the placement mechanism, placement rods evenly disposed on both sides of the yarn carriage frame, one end of each placement rod being inclined, a yarn ball body sleeved on the outer wall of the plurality of placement rods, support seats disposed on both sides of the upper end of the base frame, collaborative robots disposed on the upper ends of two support seats, and a yarn clamping mechanism disposed at one end of each collaborative robot, the yarn clamping mechanism comprising a connecting plate, an end locking mechanism disposed on the upper part of one side of the connecting plate, a vision inspection camera connected to the upper end of the connecting plate, two fixing plates disposed on the upper parts of both sides of the connecting plate, the two fixing plates being inclined, clamping mechanisms disposed on one side of the two fixing plates and one side of the connecting plate, three sets of clamping mechanisms disposed circumferentially, a battery pack embedded in the middle of the inner wall of the base frame, and transition storage racks connected to both sides of the upper end of the base frame corresponding to the connecting frame.

[0006] Preferably, the placement mechanism includes a connecting frame, the lower end of which contacts the upper end of the bottom frame, a baffle is provided at one end of the connecting frame, one side of each of the two baffles contacts both sides of the yarn carriage, conveyor chains are provided on both sides of the inner wall of the connecting frame, and guide plates are provided at the upper end of the connecting frame corresponding to one side of each of the two conveyor chains, the upper ends of the two conveyor chains contact both sides of the lower end of the yarn carriage, and one end of the yarn carriage contacts one side of the baffle.

[0007] Preferably, the end locking mechanism includes support blocks, and the number of support blocks is three. One end of each of the three support blocks is connected to a connecting cylinder. A drive motor is connected to the middle of one side of the inner wall of the connecting cylinder. The output end of the drive motor extends through to one side of the connecting cylinder. A rotating block is connected to the output end of the drive motor. One side of the rotating block is rotatably connected to the upper part of one side of the connecting plate. The rotating block is configured with a trilobal structure.

[0008] Preferably, the outer wall of the connecting cylinder is provided with connecting slide rails in a circumferential manner, and the number of connecting slide rails is three. One side of each of the three connecting slide rails is connected to one side of the connecting plate. Sliding blocks are slidably connected to the outer wall of the three connecting slide rails. One side of each of the sliding blocks is connected to an L-shaped plate. One side of each of the L-shaped plates is connected to a clamping block. The connecting cylinder has openings corresponding to the clamping blocks, and the clamping blocks are located inside the openings.

[0009] Preferably, one side of each of the three L-shaped plates is connected to a first rotating shaft, and a pull rod is sleeved on the outer wall of each of the three first rotating shafts. A second rotating shaft is evenly distributed circumferentially on one side of the rotating block. One end of each of the three pull rods is sleeved on the outer wall of the plurality of second rotating shafts. Through holes are opened at both ends of the plurality of pull rods, and the plurality of first rotating shafts and the plurality of second rotating shafts are respectively located inside the plurality of through holes.

[0010] Preferably, the clamping mechanism includes a movable slide rail, a movable block is slidably connected to the outer wall of the movable slide rail, sliders are connected to both sides of the movable block, and electric telescopic rods are connected to the middle of one side of the two sliders. There are two electric telescopic rods, and the piston ends of the two electric telescopic rods are respectively connected to one side of the two sliders.

[0011] Preferably, the cylinder end of the movable slide rail and the electric telescopic rod of the first set of clamping mechanisms is connected to a fixed plate on one side, the cylinder end of the movable slide rail and the electric telescopic rod of the second set of clamping mechanisms is connected to a fixed plate on the other side, and the cylinder end of the movable slide rail and the electric telescopic rod of the third set of clamping mechanisms is connected to the lower part of the connecting plate.

[0012] Preferably, one end of the movable block is connected to a C-shaped plate, and pins are rotatably connected to both sides of the inner wall of the C-shaped plate. A stabilizing frame is rotatably connected between the two pins, and a stabilizing block is connected to one end of the stabilizing frame. Connecting blocks are connected to both sides of the stabilizing block.

[0013] Preferably, an adjustment motor is connected to one side of the C-shaped plate, the output end of the adjustment motor extends through into the interior of the C-shaped plate, the output end of the adjustment motor is connected to an adjustment gear, an adjustment tooth block is meshed with one side of the adjustment gear, and the upper end of the adjustment tooth block is connected to one side of the lower end of the stabilizer.

[0014] Preferably, each of the lower ends of the base frame is provided with a steering wheel, and the two steering wheels are arranged diagonally symmetrically with the center of the base frame as a reference. Each of the lower ends of the base frame is provided with a caster wheel on one side of each of the two steering wheels.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] The end locking mechanism drives the rotating block to rotate via a drive motor. By using the linkage between the pull rod and the L-shaped plate, the three clamping blocks synchronously retract radially, firmly clamping the tube end of the yarn from three directions. This three-point synchronous locking method ensures the firm gripping of the yarn end, providing a solid foundation for subsequent handling.

[0017] With three sets of circumferentially arranged clamping mechanisms, the device can adaptively adjust according to the actual posture of the yarn tube. The electric telescopic rod pushes the moving block to move radially, and the adjusting motor drives the stabilizing frame to rotate around the pin shaft through the transmission of the adjusting gear and adjusting tooth block, so that the stabilizing block and connecting block are precisely attached to the outer wall of the yarn tube and contact the end. This design enables the device to effectively hold the yarn tube in an inclined state and prevent the yarn tube from shaking or slipping during transportation.

[0018] The end locking mechanism works in conjunction with three sets of clamping mechanisms to form a dual protection of end clamping and middle clamping. The end locking provides the main gripping force, while the middle clamping restrains the inertia of the heavy yarn bobbin. The combination of the two ensures the stability of the gripping and avoids damage to the yarn surface, making it suitable for handling heavy-duty bobbins.

[0019] The equipment achieves autonomous movement through steering wheels and casters, uses a vision inspection camera for positioning and recognition, and a collaborative robot performs grasping actions. It can automatically complete the grasping, handling and placement of yarn tubes, significantly reducing labor intensity and occupational injury risks. At the same time, the equipment can continuously perform loading and unloading operations. While transporting full yarn tubes to the yarn cart, it replenishes empty yarn tubes to the production line, realizing automatic material circulation and significantly improving the overall efficiency of the production line. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the device of the present invention;

[0021] Figure 2 This is an overall cross-sectional view of the device of the present invention;

[0022] Figure 3 This is a schematic diagram of the connection structure between the steering wheel, the caster wheel, and the base frame of the present invention;

[0023] Figure 4 This is a schematic diagram of the connection structure between the placement mechanism and the bottom frame of the present invention;

[0024] Figure 5 This is a schematic diagram of the placement mechanism of the present invention;

[0025] Figure 6 This is a schematic diagram of the yarn clamping mechanism of the present invention;

[0026] Figure 7 This is a schematic diagram of the installation structure of the support block and connecting cylinder of the present invention;

[0027] Figure 8 This is a schematic diagram of the connection structure between the L-shaped plate and the clamping block of the present invention;

[0028] Figure 9This is a schematic diagram of the connection structure between the rotating block, the first rotating shaft, the pull rod, and the second rotating shaft of the present invention.

[0029] Figure 10 This is a schematic diagram of the connection structure between the drive motor and the rotating block of the present invention;

[0030] Figure 11 This is a schematic diagram of the connection structure of the stabilizer, pin, and C-shaped plate of the present invention;

[0031] Figure 12 This is a schematic diagram of the connection structure between the adjusting gear and the adjusting tooth block of the present invention.

[0032] In the diagram: 1. Base frame; 2. Connecting frame; 3. Baffle; 4. Conveyor chain; 5. Guide plate; 6. Yarn frame; 7. Placement rod; 8. Yarn ball body; 9. Support base; 10. Collaborative robot; 11. Connecting plate; 12. Support block; 13. Connecting cylinder; 14. Drive motor; 15. Rotating block; 16. Connecting slide 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. Sliding rail; 26. Moving block; 27. Slider; 28. Electric telescopic rod; 29. ​​C-shaped plate; 30. Pin shaft; 31. Stabilizer; 32. Stabilizer block; 33. Connecting block; 34. Adjusting motor; 35. Adjusting gear; 36. Adjusting gear block; 37. Vision inspection camera; 38. Steering wheel; 39. Caster wheel; 40. Battery pack; 41. Transition storage rack. Detailed Implementation

[0033] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the invention is not limited to the specific embodiments disclosed below.

[0035] like 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.

[0036] 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.

[0037] 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.

[0038] The placement mechanism enables precise positioning and automatic loading and unloading of the yarn carriage 6 on the equipment. The connecting frame 2 bears the weight of the yarn carriage 6 and the bobbin yarn. The conveyor chain 4 can drive the yarn carriage 6 to move along the set direction by reversing forward and reverse to complete the loading and unloading of the yarn carriage 6. The guide plate 5 can limit the movement of the yarn carriage 6 on both sides to prevent the yarn carriage 6 from deviating or tipping over, ensuring accurate movement trajectory. The baffle 3 can block and limit the end of the yarn carriage 6, so that the yarn carriage 6 stops at the preset position, ensuring that the placement rod 7 on the yarn carriage 6 is aligned with the gripping trajectory of the bobbin yarn clamping mechanism, providing a stable positioning basis for subsequent bobbin yarn gripping operations.

[0039] like Figures 6-10 As shown: The end locking mechanism includes three support blocks 12. One end of each support block 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 has a trilobal structure. Three connecting slide rails 16 are circumferentially arranged on the outer wall of the connecting cylinder 13. One side of each of the three connecting slide rails 16 is connected to one side of the connecting plate 11. Sliding blocks 1 are slidably connected to the outer walls of the three connecting slide rails 16. 7. Multiple sliding blocks 17 are connected to L-shaped plates 18 on one side, and multiple L-shaped plates 18 are connected to clamping blocks 19 on one side. One end of the clamping blocks 19 is made of silicone material. The connecting cylinder 13 has openings 23 corresponding to the multiple clamping blocks 19. The multiple clamping blocks 19 are located inside the multiple openings 23. Three L-shaped plates 18 are connected to first rotating shafts 20 on one side. Pull rods 22 are sleeved on the outer wall of the three first rotating shafts 20. Second rotating shafts 21 are evenly distributed circumferentially on one side of the rotating block 15. One end of the three pull rods 22 is sleeved on the outer wall of the multiple second rotating shafts 21. Through holes are opened at both ends of the multiple pull rods 22. The multiple first rotating shafts 20 and the multiple second rotating shafts 21 are located inside the multiple through holes.

[0040] The end locking mechanism achieves centering and clamping from the end of the yarn tube, ensuring that the yarn tube does not slip axially during transportation. Three support blocks 12 can stably support the connecting cylinder 13, ensuring the overall structural strength of the mechanism. The drive motor 14 provides power to drive the trilobal rotating block 15 to rotate, which in turn pulls the pull rod 22 through the second rotating shaft 21. The pull rod 22 can drive the L-shaped plate 18 to perform radial synchronous extension and retraction along the connecting slide rail 16 with the help of the first rotating shaft 20, realizing the opening and closing of the clamping block 19. The connecting slide rail 16 and the sliding block 17 cooperate to guide the movement direction of the L-shaped plate 18, ensuring that the three clamping blocks 19 move synchronously. The opening 23 can provide space for the extension and retraction of the clamping block 19, preventing the connecting cylinder 13 from obstructing the clamping action. The three circumferentially distributed clamping blocks 19 can apply clamping force evenly from the inner hole or outer wall of the yarn tube end, adapting to yarn tubes of different diameters and improving the stability and versatility of end locking.

[0041] like Figure 11-12 As shown: The clamping mechanism includes a movable slide rail 25, with a movable block 26 slidably connected to the outer wall of the movable slide rail 25. Slider blocks 27 are connected to both sides of the movable block 26. Two electric telescopic rods 28 are connected to the middle of one side of each of the two sliders 27. The piston ends of the two electric telescopic rods 28 are respectively connected to one side of each of the two sliders 27. The cylinder ends of the movable slide rail 25 and the electric telescopic rods 28 of the first clamping mechanism are connected to a fixed plate 24 on one side. The cylinder ends of the movable slide rail 25 and the electric telescopic rods 28 of the second clamping mechanism are connected to a fixed plate 24 on the other side. The movable slide rail 25 and the electric telescopic rods 28 of the third clamping mechanism are connected to the cylinder ends of the movable slide rail 25 and the electric telescopic rods 28 on the other side. The cylinder end of the telescopic rod 28 is connected to the lower part of the connecting plate 11. One end of the moving block 26 is connected to a C-shaped plate 29. Pins 30 are rotatably connected to both sides of the inner wall of the C-shaped plate 29. A stabilizer 31 is rotatably connected between the two pins 30. One end of the stabilizer 31 is connected to a stabilizer block 32. Connecting blocks 33 are connected to both sides of the stabilizer block 32. An adjusting motor 34 is connected to one side of the C-shaped plate 29. The output end of the adjusting motor 34 extends through into the interior of the C-shaped plate 29. An adjusting gear 35 is connected to the output end of the adjusting motor 34. An adjusting tooth block 36 is meshed with one side of the adjusting gear 35. The upper end of the adjusting tooth block 36 is connected to one side of the lower end of the stabilizer 31.

[0042] Three clamping mechanisms provide auxiliary clamping and fit support from both sides and the bottom of the yarn tube, forming a triple stable constraint in conjunction with the end locking mechanism. The electric telescopic rod 28 drives the slider 27 to move the moving block 26 along the moving slide rail 25, adjusting the distance between the stabilizer 31 and the yarn body 8, thus allowing the clamping mechanism to move closer or loosen. The moving slide rail 25 and the moving block 26 work together to ensure the precise movement direction of the stabilizer 31 and prevent deviation. The C-shaped plate 29 serves as the mounting carrier for the stabilizer 31, and the pin 30 allows the stabilizer 31 to rotate around it, achieving posture adjustment. The motor 34 can drive the stabilizer 31 to rotate to an angle that matches the outer wall of the yarn bundle through the meshing of the gear 35 and the adjusting gear block 36, adapting to yarn bundles with different tilt angles. The stabilizer 31, the stabilizer block 32 and the connecting block 33 can increase the contact area with the yarn bundle, ensuring that the inner wall of the stabilizer 31 fully fits the outer wall of the yarn bundle. The clamping mechanisms on the two sets of inclined fixing plates 24 can hug the yarn bundle from both sides, and the third set of clamping mechanisms can lift the yarn bundle from the bottom, effectively offsetting the lateral force when the yarn bundle is tilted or under heavy load, and preventing the yarn bundle from shaking or falling.

[0043] Working principle: The device starts working when powered by the battery pack 40. The two steering wheels 38 and two casters 39 located at the bottom of the base frame 1 work together to drive the equipment to move along the predetermined path to the target station. When the device reaches the designated position, the conveyor chain 4 starts to run. Under the guidance of the guide plate 5, the yarn cart 6 fully loaded with empty yarn bobbins is accurately transported to the top of the connecting frame 2. The baffle 3 blocks one end of the yarn cart 6 to ensure that the yarn cart 6 stops in the correct position.

[0044] The collaborative robot 10 drives the yarn clamping mechanism to approach the empty yarn tube above the target yarn frame 6. The vision inspection camera 37 installed on the upper end of the connecting plate 11 starts working, identifies the position of the empty yarn tube, and then drives the yarn clamping mechanism to clamp the empty yarn tube on one side of the yarn frame 6 and temporarily place it on the transition storage rack 41. Then, the collaborative robot 10 drives the yarn clamping mechanism to approach the full yarn tube body 8 on the production line and takes multi-angle pictures of it through the vision inspection camera 37. At the same time, the end locking mechanism is brought close to the tube of the full yarn tube body 8 on the production line. At this time, the clamping mechanism is in the open state.

[0045] The drive motor 14 starts, driving the rotating block 15, which has a three-lobed structure, to rotate. The rotating block 15 pulls three pull rods 22 through the second rotating shaft 21 on it. The pull rods 22 then drive three L-shaped plates 18 to move radially and synchronously along the connecting slide rail 16 through the first rotating shaft 20, so that the clamping block 19 extends smoothly from the opening 23 of the connecting cylinder 13 and clamps the tube at one end of the yarn body 8 from three directions at the same time, completing the secure locking of the end.

[0046] While the end locking mechanism is in operation, three sets of circumferentially arranged clamping mechanisms begin to work together to address the potential tilting of the yarn bundle body 8. The electric telescopic rod 28 pushes the slider 27, causing 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 bundle body 8. The adjusting motor 34 drives the adjusting gear 35 to rotate; the adjusting gear 35 meshes with the adjusting tooth block 36, pushing the adjusting tooth block 36 to move along its track. Since the upper end of the adjusting tooth block 36 is fixedly connected to one side of the lower end of the stabilizing frame 31, its movement will cause the stabilizing frame 31 to rotate around the pin shaft 30, realizing the angle adjustment of the overall posture of the stabilizing frame 31. When the stabilizing frame 31 rotates to fully match the outer wall of the yarn bundle body 8, the inner side wall of the stabilizing frame 31 will fully fit with the outer wall of the yarn bundle. At the same time, the stabilizing block 32 and the connecting block 33 contact one end of the yarn bundle body 8. The three sets of clamping mechanisms circumferentially hold the yarn bundle body 8, improving the stability of the yarn bundle body 8 when it moves.

[0047] After the grasping is completed, the collaborative robot 10 transports the yarn ball body 8 to the placement rod 7. During the placement process, the electric telescopic rod 28 of the clamping mechanism first retracts, releasing the constraint on the middle part of the yarn ball body 8; then the drive motor 14 of the end locking mechanism reverses, causing the clamping block 19 to release the end of the yarn ball body 8, and the yarn ball body 8 is placed smoothly on the placement rod 7 of the yarn cart frame 6.

[0048] First, the empty yarn bobbin on the yarn cart frame 6 is transferred to the transition storage rack 41. Then, the full yarn bobbin body 8 is placed on the placement rod 7 from the production line. Finally, the empty yarn bobbin on the transition storage rack 41 is transferred to the production line. When the operation of one station is completed, the equipment automatically moves to the next station to continue the operation.

[0049] When the placement rod 7 on the yarn carriage 6 is fully loaded with yarn bundles 8, the equipment automatically travels to the loading and unloading area, the conveyor chain 4 starts, transports the fully loaded yarn carriage 6 out, and loads a new empty yarn carriage 6 at the same time. Then the equipment returns to the working area and begins a new round of operation. Throughout the process, the battery pack 40 provides stable power support for all mechanisms to ensure the continuous operation of the equipment.

[0050] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A visual detection-based cop upper and lower equipment, comprising a bottom 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). The end locking mechanism includes a support block (12), and there are three support blocks (12). One end of each support block (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). The output end of the drive motor (14) is connected to a rotating block (15). 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 shape. 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). Sliding blocks (17) are slidably connected to the outer wall of the three connecting slide rails (16). One side of each of the sliding blocks (17) is connected to an L-shaped plate (18). One side of each of the L-shaped plates (18) is connected to 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). 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.

2. A yarn loading and unloading device based on visual 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. A yarn loading and unloading device based on visual 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 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 the two sliders (27).

4. A yarn loading and unloading device based on visual detection according to claim 3, 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).

5. A yarn loading and unloading apparatus based on visual detection according to claim 3, 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).

6. A yarn loading and unloading device based on visual detection according to claim 5, 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).

7. 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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