Visual inspection-based precursor feeding and discharging equipment

Abstract

The invention belongs to the technical field of transportation equipment, and particularly discloses protofilament feeding and discharging equipment based on visual inspection, which comprises a base and a manipulator connected to the base, abutting belts are oppositely distributed in the middle of the base, a second rotating wheel and a first rotating wheel are inserted into the abutting belts, and rotating rods are fixed at two ends of the first rotating wheel and two ends of the second rotating wheel. The rotating rod is sleeved with a sleeving rod, the lower end of the sleeving rod is fixed to the base, the abutting belts abut against a moving seat, a pushing block is fixed to the tops of the abutting belts and abuts against the moving seat, a frame body is fixed to the moving seat, a yarn cylinder is fixed to the frame body, a distance measuring sensor is fixed to the base, and an electric push rod is fixed to the position, between the two abutting belts, of the base. A clamping plate is fixed to the output end of the electric push rod. The electric push rod in the equipment drives the clamping plate to abut against the moving seat, sliding abrasion of the moving seat on the base can be avoided, and then the service life of the clamping plate can be prolonged.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of transportation equipment, and particularly discloses a raw silk feeding and discharging equipment based on visual detection. BACKGROUND

[0002] The raw silk feeding and discharging equipment is an equipment comprising a chassis, a robot, a conveying line and a raw silk clamp, and can be applied to raw silk yarn feeding and discharging in the glass fiber industry. At present, when the raw silk feeding and discharging equipment on the market feeds the raw silk yarn of glass fiber, the raw silk yarn of glass fiber is placed on a yarn reel in the equipment, a raw silk drum for accommodating the raw silk yarn of glass fiber is installed on the yarn reel, after the raw silk drum on the yarn reel accommodates the raw silk yarn of glass fiber, the staff separates the yarn reel loaded with the raw silk yarn from the feeding and discharging equipment, and then the raw silk yarn is conveyed to the next working area. However, the equipment can indeed achieve good transportation effect on the raw silk yarn in actual use, but it still has some deficiencies in actual use, for example: When the robot needs to place the raw silk yarn of glass fiber on the raw silk drum, the staff needs to move the yarn reel to the equipment body in advance, in order to ensure the stability of the connection between the yarn reel and the equipment, a yarn reel supporting structure is connected to the equipment, the supporting structure is usually a supporting plate fixed on the equipment shell and a supporting plate adjusting assembly, when the yarn reel is moved to the equipment, the supporting plate adjusting assembly drives the supporting plate to abut against the yarn reel, which can realize stable fixation of the yarn reel on the equipment, and facilitate the robot to place the raw silk yarn of glass fiber on the raw silk drum. Since the yarn reel needs to frequently transport the raw silk yarn of glass fiber, dust or sundries are easy to adhere to the yarn reel, when the supporting plate adjusting assembly drives the supporting plate to abut against the yarn reel, there is great wear between the supporting plate and the yarn reel, when multiple yarn reels are frequently loaded and unloaded on the equipment, the dust or sundries adhered to the equipment can easily cause wear of the supporting plate, since the supporting plate is a rigid plate structure, and no good self-adaptive adjusting assembly is arranged on the supporting plate, the worn supporting plate is not convenient for fixing the yarn reel, thereby affecting the robot to load the raw silk yarn on the yarn reel. SUMMARY

[0003] Therefore, the purpose of the present application is to provide a raw silk feeding and discharging equipment based on visual detection to solve the above problems.

[0004] To achieve the above object, the application provides a raw silk feeding and discharging equipment based on visual detection, which comprises a base and a mechanical hand connected to the base, and the middle part of the base is provided with abutting belts, second rotating wheels and first rotating wheels are inserted into the abutting belts, rotating rods are fixed to the two ends of the first rotating wheels and the second rotating wheels, sleeve rods are sleeved on the rotating rods, and the lower ends of the sleeve rods are fixed to the base; The abutting belts are provided with moving seats, the top of the abutting belts is provided with a pushing block, the pushing block and the moving seat abut, the moving seat is fixed with a frame, and the frame is fixed with a yarn cylinder; The base is fixed with a distance measuring sensor, and an electric push rod is fixed between the two abutting belts on the base, and the output end of the electric push rod is fixed with a clamping plate.

[0005] In the above technical scheme, further, the inner wall of the abutting belt is fixed with a plurality of toggle teeth at equal intervals, the side wall of the first rotating wheel and the second rotating wheel is provided with a pushing tooth, the pushing tooth and the toggle tooth are engaged, a sealing shell is fixed between the two sleeve rods on the same side, and the sealing shell does not contact the abutting belt.

[0006] In the above technical scheme, further, a mounting seat is fixed to the sleeve rod near the second rotating wheel, a mounting shell is embedded on the mounting seat, a transmission column is rotatably arranged on the mounting shell, a coil spring is fixed between the transmission column and the inner wall of the mounting seat, a supporting ring is sleeved on the transmission column, the supporting ring is embedded on the mounting seat, and the end of the transmission column away from the mounting shell is fixed to the rotating rod.

[0007] In the above technical scheme, further, a gas guide cavity is formed in the part where the transmission column and the mounting seat penetrate, the gas guide cavity is located between the supporting ring and the mounting shell, a plurality of fan leaves are arranged at equal intervals in the gas guide cavity, the fan leaves are fixed to the transmission column, a gas guide pipe is fixed to the gas outlet of the gas guide cavity, a gas distribution pipe is fixed to the gas guide pipe, the inner cavity of the gas distribution pipe is communicated with the inner cavity of the gas guide pipe, and a gas blowing assembly is fixed to the gas outlet of the gas guide pipe and the gas distribution pipe.

[0008] In the above technical scheme, further, the gas blowing assembly comprises a sleeve pipe sleeved on the rotating rod and a gas collecting ring, the sleeve pipe is fixed to the gas guide pipe and the gas distribution pipe, the gas collecting ring is arranged in the sleeve pipe, the inner cavity of the gas collecting ring is communicated with the inner cavities of the gas guide pipe and the gas distribution pipe, a plurality of insertion pipes are fixed to the side of the gas collecting ring close to the rotating rod at equal intervals, and the inner cavities of the insertion pipes are communicated with the inner cavity of the gas collecting ring.

[0009] In the above technical scheme, further, a gas distribution ring is fixed to the sleeve rod near the side of the mounting seat, a plurality of holes are formed in the gas distribution ring at equal intervals, and the gas distribution ring is sleeved on the insertion pipe through the holes.

[0010] In the above technical solution, further, the base is fixed with a baffle, the baffle does not contact with the abutting belt, both ends of the baffle are fixed with side baffles, the side baffles are fixed with the sleeve connecting rod, meanwhile, the side baffles do not contact with the abutting belt, the side of the base away from the baffle is fixed with an inclined plate.

[0011] In the above technical solution, further, both sides of the top surface of the base are fixed with transition storage racks, the base is embedded with a storage battery, one side of the base is fixed with a controller.

[0012] In the above technical solution, further, the working end of the mechanical arm is fixed with a clamping jig, the part of the mechanical arm close to the clamping jig is fixed with a camera detector, the mechanical arm is distributed on the top surface of the base at both sides.

[0013] Compared with the prior art, the present application has the following beneficial effects: The moving seat in the device can drive the yarn cylinder to move to the base by pushing the abutting belt on the first rotating wheel and the second rotating wheel through the pushing block, when the moving seat moves to the base, the abutting belt can be attached to the bottom surface of the moving seat, the abutting belt is made of rubber material, which can increase the friction between the abutting belt and the moving seat, and the elastic repulsive force generated by the abutting belt can support the moving seat, which can offset the vibration generated by the raw silk yarn group placed in the yarn cylinder, avoid the raw silk yarn group from separating from the yarn cylinder, and facilitate the mechanical arm to transport the yarn cylinder or the raw silk yarn group through the clamping jig.

[0014] 2、The controller in the device can receive the detection information transmitted by the distance measuring sensor, and a control program is built into the controller, when the controller reads the information data that the moving seat reaches the appropriate position, the controller will control the electric push rod to work, at this time, the control end of the electric push rod will control the clamping plate to abut on the bottom surface of the moving seat, the clamping plate is a plate-shaped structure with rough top surface, when the clamping plate abuts on the bottom surface of the moving seat, the friction between the clamping plate and the moving seat can prevent the moving seat from shaking on the base, using the electric push rod to drive the clamping plate to abut on the moving seat can avoid the moving seat from sliding and wearing on the base, thereby prolonging the service life of the clamping plate.

[0015] 3、When the second rotating wheel rotates on the sleeve connecting rod, the second rotating wheel can drive the coil spring on the transmission column to deform, the coil spring distributed in the installation shell can work in storage mode, when the moving seat needs to be separated from the abutting belt, the repulsive force generated by the coil spring can drive the second rotating wheel to rotate through the transmission column, at this time, the controller controls the clamping plate on the electric push rod to reset, the second rotating wheel can drive the pushing block to push the moving seat, thereby realizing the automatic separation of the yarn cylinder on the moving seat and the base.

[0016] 4、The repulsion force generated by the coil spring in the device drives the transmission column to rotate, the fan can drive the external air into the inner cavity of the gas distribution pipe and the air guide pipe, since the gas collection ring and the air guide pipe and the gas distribution pipe are connected, the gas distribution ring is connected to the insertion pipe through the hole sleeve, the air entering the air guide pipe and the gas distribution pipe will blow the push teeth around the second runner through the insertion pipe, which can cool the push teeth and blow the dust around the push teeth and the driving teeth, thereby avoiding the influence of dust on the meshing of the push teeth and the driving teeth, and realizing the stable rotation of the first runner and the second runner.

[0017] 5、When the controller in the device receives the data information transmitted by the distance measuring sensor, the controller will control the camera detector and the mechanical hand to work at the same time, the camera detector detects the position of the clamping jig, which can realize the accurate clamping of the yarn cylinder and the raw silk yarn group by the mechanical hand through the clamping jig. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 The structure of the present application is shown in the schematic diagram; Figure 2 The connection structure of the transition storage rack and the base in the present application is shown in the connection structure diagram; Figure 3 The connection structure of the gas distribution ring and the sealing shell in the present application is shown in the connection structure diagram; Figure 4 The distribution of the first runner and the second runner in the present application is shown in the distribution schematic diagram; Figure 5 The distribution of the mounting seat and the abutment belt in the present application is shown in the distribution schematic diagram; Figure 6 The connection structure of the air guide pipe and the gas distribution pipe and the mounting seat in the present application is shown in the connection structure diagram; Figure 7 The connection structure of the mounting shell and the mounting seat in the present application is shown in the connection structure diagram; Figure 8 The connection structure of the transmission column and the mounting shell in the present application is shown in the connection structure diagram; Figure 9 The connection structure of the rotating rod and the sleeve in the present application is shown in the connection structure diagram; Figure 10 Figure 2 The enlarged view of A in the present application is shown in the enlarged view.

[0019] ​1, mechanical arm; 11, camera detector; 12, clamping fixture; 2, yarn bobbin; 3, frame body; 4, base; 41, moving seat; 42, battery; 43, distance measuring sensor; 5, baffle; 51, side baffle; 52, inclined plate; 53, clamping plate; 54, electric push rod; 6, transition storage rack; 7, sealed shell; 71, gas distribution ring; 72, abutting belt; 73, push block; 74, first rotating wheel; 75, push gear; 76, actuating gear; 77, second rotating wheel; 78, rotating rod; 79, sleeve connecting rod; 8, mounting seat; 81, air guide pipe; 82, gas distribution pipe; 83, sleeve pipe; 84, transmission column; 85, support ring; 86, gas collecting ring; 87, air guide cavity; 88, mounting shell; 89, fan blade; 810, coil spring; 811, plug-in pipe; 9, controller. DETAILED DESCRIPTION

[0020] In order to enable the above-mentioned objects, features and advantages of the present application to be more clearly understood, the following will further describe the present application with reference to the accompanying drawings and specific embodiments.

[0021] In the following description, many specific details are set forth in order to provide a thorough understanding of the present application. However, the present application can be practiced in other ways different from those described herein, and therefore, the present application is not limited to the specific embodiments disclosed below.

[0022] Embodiment one: please refer to Figures 1-10 As shown in the figure, the present application provides a technical solution: The present application is a kind of based on visual inspection's raw silk loading and unloading equipment, including base 4 and the mechanical arm 1 connected on base 4, the middle part of base 4 is relatively distributed with abutting belt 72, the second rotating wheel 77 and the first rotating wheel 74 are inserted on abutting belt 72, the both ends of first rotating wheel 74 and second rotating wheel 77 are fixed with rotating rod 78, rotating rod 78 is sleeved with sleeve connecting rod 79, the lower end of sleeve connecting rod 79 and base 4 are fixed; The abutting belt 72 is abutted with the moving seat 41, the lower part of the moving seat 41 is installed with universal wheel, the top of the abutting belt 72 is fixed with the push block 73, the push block 73 and the moving seat 41 are abutted, the frame body 3 is fixed on the moving seat 41, and the yarn bobbin 2 is fixed on the frame body 3; The mobile seat 41 is a plate-shaped structure with universal wheels fixed to the bottom surface. When the mobile seat 41 moves onto the base 4, it will abut against the abutment belt 72. At the same time, the mobile seat 41 will push the abutment belt 72 on the first rotating wheel 74 and the second rotating wheel 77 through the pushing block 73. This can realize the movement of the mobile seat 41 with the yarn cylinder 2 onto the base 4. When the mobile seat 41 moves onto the base 4, the abutment belt 72 can be attached to the bottom surface of the mobile seat 41. The abutment belt 72 is made of rubber material, which can increase the friction between the abutment belt 72 and the mobile seat 41. At the same time, the elastic repulsive force generated by the abutment belt 72 can support the mobile seat 41. This can offset the vibration of the raw yarn bundle placed in the yarn cylinder 2, so as to avoid the separation of the raw yarn bundle from the inside of the yarn cylinder 2. The base 4 is fixed with a distance measuring sensor 43. The base 4 is fixed with an electric push rod 54 between the two abutment belts 72. The output end of the electric push rod 54 is fixed with a clamping plate 53. It should be noted that one side of the base 4 is fixed with a controller 9. When the staff wants to load the raw yarn bundle of glass fiber in the yarn cylinder 2 on the frame 3, the mobile seat 41 drives the yarn cylinder 2 on the frame 3 to move onto the base 4 through the universal wheels. In this process, the distance measuring sensor 43 can detect the position of the mobile seat 41 in real time. When the distance measuring sensor 43 detects that the position of the mobile seat 41 reaches the preset value, it means that the mobile seat 41 drives the yarn cylinder 2 on the frame 3 to reach the position where the raw yarn bundle of glass fiber can be loaded. In this process, the controller 9 can receive the detection information transmitted by the distance measuring sensor 43. The controller 9 is internally provided with a control program. When the controller 9 reads the information data that the mobile seat 41 reaches the appropriate position, the controller 9 will control the electric push rod 54 to work. At this time, the control end of the electric push rod 54 will control the clamping plate 53 to abut against the bottom surface of the mobile seat 41. The clamping plate 53 is a plate-shaped structure with a rough top surface. When the clamping plate 53 abuts against the bottom surface of the mobile seat 41, the friction between the clamping plate 53 and the mobile seat 41 can prevent the mobile seat 41 from shaking on the base 4.

[0023] Example two: please refer to Figures 1-10 As shown, based on the basis of example one, the present application provides a technical scheme. Different from example one, the second rotating wheel 77 in the present embodiment can deform the coil spring 810 on the transmission column 84 when rotating on the sleeve joint rod 79. The coil spring 810 distributed in the installation shell 88 can work in storage mode. When the mobile seat 41 needs to separate from the abutment belt 72, the repulsive force generated by the coil spring 810 can drive the second rotating wheel 77 to rotate through the transmission column 84. At this time, the controller 9 controls the clamping plate 53 on the electric push rod 54 to reset. The second rotating wheel 77 can drive the pushing block 73 to push the mobile seat 41, so as to realize the separation of the yarn cylinder 2 on the mobile seat 41 and the base 4.

[0024] The inner wall of the abutment belt 72 is fixed with actuating teeth 76 at equal intervals. The side walls of the first rotating wheel 74 and the second rotating wheel 77 are provided with pushing teeth 75. The pushing teeth 75 and the actuating teeth 76 mesh with each other. A sealing shell 7 is fixed between the two sleeve rods 79 on the same side. The sealing shell 7 can shield the first rotating wheel 74 and the second rotating wheel 77, and can prevent dust from contacting the first rotating wheel 74 and the second rotating wheel 77. The sealing shell 7 does not contact the abutment belt 72. When the movable seat 41 pushes the abutment belt 72 on the first rotating wheel 74 and the second rotating wheel 77 through the push block 73, the push teeth 75 on the abutment belt 72 can push the first rotating wheel 74 and the second rotating wheel 77. At this time, the first rotating wheel 74 and the second rotating wheel 77 rotate on the sleeve rod 79 through the rotating rod 78, which can avoid the phenomenon that the first rotating wheel 74 and the second rotating wheel 77 cannot rotate on the sleeve rod 79.

[0025] A mounting base 8 is fixed to the sleeve rod 79 near the second rotating wheel 77. A mounting shell 88 is embedded in the mounting base 8. A transmission column 84 rotates on the mounting shell 88. A coil spring 810 is fixed between the transmission column 84 and the inner wall of the mounting base 8. A support ring 85 is sleeved on the transmission column 84. The support ring 85 is embedded in the mounting base 8. The end of the transmission column 84 facing away from the mounting shell 88 is fixed to the rotating rod 78. When the second rotating wheel 77 rotates on the connecting rod 79, the second rotating wheel 77 can drive the coil spring 810 on the transmission column 84 to deform through the rotating rod 78. The coil spring 810 distributed inside the mounting housing 88 can store power. When the moving seat 41 needs to separate from the abutting belt 72, the repulsive force generated by the coil spring 810 can drive the second rotating wheel 77 to rotate through the transmission column 84. At this time, the controller 9 controls the clamping plate 53 on the electric push rod 54 to reset. The second rotating wheel 77 can drive the push block 73 to push the moving seat 41, thereby realizing the separation of the yarn bobbin 2 and the base 4 on the moving seat 41.

[0026] Example 3: Please refer to Figures 1-10 As shown, based on Embodiment 2, the present invention provides a technical solution. Unlike Embodiment 2, in this embodiment, when the repulsive force generated by the coil spring 810 drives the transmission column 84 to rotate, the fan blade 89 can drive external air into the inner cavity of the air distribution pipe 82 and the air guide pipe 81. Since the air collecting ring 86 is connected to the inner cavity of the air guide pipe 81 and the air distribution pipe 82, the air distribution ring 71 is sleeved on the insertion pipe 811 through the hole. The air entering the air guide pipe 81 and the air distribution pipe 82 will blow the pushing teeth 75 around the second rotating wheel 77 through the insertion pipe 811. On the one hand, it can cool the pushing teeth 75, and on the other hand, it can blow away the dust around the pushing teeth 75 and the actuating teeth 76, thereby avoiding the dust from affecting the meshing of the pushing teeth 75 and the actuating teeth 76, so as to realize the stable rotation of the abutment belt 72 on the first rotating wheel 74 and the second rotating wheel 77.

[0027] The transmission column 84 and the part where the mounting seat 8 penetrates are provided with a gas guide cavity 87, which is located between the supporting ring 85 and the mounting shell 88, and the inside of the gas guide cavity 87 is provided with leafs 89 at equal intervals, the leafs 89 are fixed with the transmission column 84, and the gas guide cavity 87 is fixed with a gas guide pipe 81 at a gas conveying end, the gas guide pipe 81 is fixed with a gas distribution pipe 82, the gas distribution pipe 82 is communicated with the inner cavity of the gas guide pipe 81, and the gas conveying ends of the gas guide pipe 81 and the gas distribution pipe 82 are fixed with air blowing assemblies.

[0028] The air blowing assembly comprises a sleeve pipe 83 sleeved on the rotating rod 78 and a gas collecting ring 86, the sleeve pipe 83 is fixed on the gas guide pipe 81 and the gas distribution pipe 82, the gas collecting ring 86 is distributed in the inside of the sleeve pipe 83, the gas collecting ring 86 is communicated with the inner cavities of the gas guide pipe 81 and the gas distribution pipe 82, and the side, close to the rotating rod 78, of the gas collecting ring 86 is fixed with plug-in pipes 811 at equal intervals, and the inner cavities of the plug-in pipes 811 are communicated with the inner cavity of the gas collecting ring 86.

[0029] The sleeve rod 79, close to the side of the mounting seat 8, is fixed with a gas distribution ring 71, the gas distribution ring 71 is provided with holes at equal intervals, and the gas distribution ring 71 is sleeved on the plug-in pipes 811 through the holes; The receiving end of the gas guide cavity 87 is communicated with the outside, when the repulsive force generated by the coil spring 810 drives the transmission column 84 to rotate, the leafs 89 can drive the outside air to enter the inner cavities of the gas distribution pipe 82 and the gas guide pipe 81, due to the fact that the gas collecting ring 86 is communicated with the inner cavities of the gas guide pipe 81 and the gas distribution pipe 82, the gas distribution ring 71 is sleeved on the plug-in pipes 811 through the holes, and the air entering the inside of the gas guide pipe 81 and the gas distribution pipe 82 can blow the pushing teeth 75 around the second rotating wheel 77 through the plug-in pipes 811, which can cool the pushing teeth 75 and blow the dust around the pushing teeth 75 and the driving teeth 76, thereby avoiding the influence of the dust on the meshing of the pushing teeth 75 and the driving teeth 76, and realizing the stable rotation of the abutting belt 72 on the first rotating wheel 74 and the second rotating wheel 77.

[0030] Embodiment four: please refer to Figures 1-10 As shown in the figure, based on the basis of embodiment one, the controller 9 receives the data information transmitted by the distance measuring sensor 43, and the controller 9 controls the camera detector 11 and the mechanical arm 1 to work at the same time, the camera detector 11 detects the position of the clamping jig 12, and the mechanical arm 1 can accurately clamp the yarn cylinder 2 and the raw silk yarn group through the clamping jig 12; The base 4 is fixed with a baffle 5, the baffle 5 does not contact with the abutting belt 72, both ends of the baffle 5 are fixed with side baffles 51, the side baffles 51 are fixed with the sleeve rod 79, and the side baffles 51 do not contact with the abutting belt 72, and the side, away from the baffle 5, of the base 4 is fixed with an inclined plate 52; The baffle 5 and the side baffle 51 can block the moving seat 41, and the moving seat 41 and the abutting belt 72 can be separated, and the inclined plate 52 is fixed on the side of the base 4 away from the baffle 5, so that the universal wheel on the moving seat 41 can be quickly moved to the base 4 through the inclined plate 52.

[0031] The transition storage rack 6 is fixed on both sides of the top surface of the base 4, the battery 42 is embedded on the base 4, and the controller 9 is fixed on one side of the base 4. The battery 42 can provide power for the manipulator 1, the controller 9 and the distance measuring sensor 43, so as to ensure the normal work of the manipulator 1, the controller 9 and the distance measuring sensor 43.

[0032] The working end of the manipulator 1 is fixed with the clamping jig 12, the camera detector 11 is fixed on the manipulator 1 close to the clamping jig 12, and the manipulator 1 is distributed on the top surface of the base 4 and located on both sides; When the controller 9 receives the data information transmitted by the distance measuring sensor 43, the controller 9 controls the camera detector 11 and the manipulator 1 to work at the same time. When the camera detector 11 detects that the clamping jig 12 and the yarn cylinder 2 on the frame 3 are opposite, the manipulator 1 drives the clamping jig 12 to clamp the yarn cylinder 2, and then the manipulator 1 drives the yarn cylinder 2 to be placed on the transition storage rack 6. Then the controller 9 controls the clamping jig 12 on the manipulator 1 to move to the raw silk yarn group on the production line. When the camera detector 11 detects that the clamping jig 12 and the raw silk yarn group on the production line are opposite, the manipulator 1 drives the clamping jig 12 to clamp the raw silk yarn group. Then the controller 9 controls the manipulator 1 to drive the raw silk yarn group to be placed on the yarn cylinder 2 on the transition storage rack 6. Finally, the manipulator 1 drives the yarn cylinder 2 loaded with the raw silk yarn group to be loaded on the frame 3. When all the raw silk yarn groups are loaded on the frame 3, the frame 3 and the base 4 can be separated.

[0033] Working principle: the moving seat 41 is a plate-shaped structure fixed with universal wheels on the bottom surface. When the moving seat 41 moves to the base 4, the moving seat 41 abuts against the abutting belt 72, and at the same time, the moving seat 41 also pushes the abutting belt 72 on the first rotating wheel 74 and the second rotating wheel 77 through the pushing block 73, so as to realize that the moving seat 41 drives the yarn cylinder 2 to move to the base 4. When the moving seat 41 moves to the base 4, the abutting belt 72 can be attached to the bottom surface of the moving seat 41. The abutting belt 72 is made of rubber material, which can increase the friction between the abutting belt 72 and the moving seat 41. At the same time, the elastic repulsion of the abutting belt 72 subjected to the pressure can support the moving seat 41, so as to offset the vibration generated by the raw silk yarn group placed in the yarn cylinder 2, and avoid the separation of the raw silk yarn group from the yarn cylinder 2; It needs explanation that one side of the base 4 is fixed with the controller 9, when the staff wants to load the glass fiber raw yarn group in the yarn cylinder 2 on the frame body 3, the moving base 41 drives the yarn cylinder 2 on the frame body 3 to move to the base 4 through the universal wheel, and in the process, the ranging sensor 43 can detect the position of the moving base 41 in real time, when the ranging sensor 43 detects that the position of the moving base 41 reaches the preset value, it means that the moving base 41 drives the yarn cylinder 2 on the frame body 3 to reach the position where the glass fiber raw yarn group can be loaded; In the process, the controller 9 can receive the detection information transmitted by the ranging sensor 43, and the controller 9 is internally provided with a control program, when the controller 9 reads the information data that the moving base 41 reaches the appropriate position, the controller 9 will control the electric push rod 54 to work, at this time, the control end of the electric push rod 54 will control the clamping plate 53 to abut against the bottom surface of the moving base 41, the clamping plate 53 is a plate structure with rough top surface, when the clamping plate 53 abuts against the bottom surface of the moving base 41, the friction between the clamping plate 53 and the moving base 41 can prevent the moving base 41 from shaking on the base 4; When the moving base 41 pushes the abutting belt 72 on the first rotating wheel 74 and the second rotating wheel 77 through the push block 73, the push teeth 75 on the abutting belt 72 can push the first rotating wheel 74 and the second rotating wheel 77, at this time, the first rotating wheel 74 and the second rotating wheel 77 rotate on the sleeve rod 79 through the rotating rod 78, which can avoid the phenomenon that the first rotating wheel 74 and the second rotating wheel 77 cannot rotate on the sleeve rod 79; When the second rotating wheel 77 rotates on the sleeve rod 79, the second rotating wheel 77 can deform the coil spring 810 on the transmission column 84 through the rotating rod 78, the coil spring 810 distributed in the installation shell 88 can work in storage mode, when the moving base 41 needs to separate from the abutting belt 72, the repulsive force generated by the coil spring 810 can drive the second rotating wheel 77 to rotate through the transmission column 84, at this time, the controller 9 controls the clamping plate 53 on the electric push rod 54 to reset, the second rotating wheel 77 can drive the push block 73 to push the moving base 41, thereby realizing the separation of the yarn cylinder 2 on the moving base 41 and the base 4; The receiving end of the air guide cavity 87 is in communication with the outside, when the repulsive force generated by the coil spring 810 drives the transmission column 84 to rotate, the fan blade 89 can drive the external air to enter the inner cavities of the air guide pipe 81 and the air distribution pipe 82, since the air collection ring 86 and the inner cavities of the air guide pipe 81 and the air distribution pipe 82 are in communication, the air distribution ring 71 is sleeved on the insertion pipe 811 through the hole, the air entering the air guide pipe 81 and the air distribution pipe 82 can blow the push teeth 75 around the second rotating wheel 77 through the insertion pipe 811, on the one hand, it can cool the push teeth 75, on the other hand, it can blow the dust around the push teeth 75 and the driving teeth 76, thereby avoiding the dust from affecting the meshing of the push teeth 75 and the driving teeth 76, realizing the stable rotation of the abutting belt 72 on the first rotating wheel 74 and the second rotating wheel 77; When the controller 9 receives the data information transmitted by the ranging sensor 43, the controller 9 controls the camera detector 11 and the manipulator 1 to work simultaneously. When the camera detector 11 detects that the clamping fixture 12 and the yarn bobbin 2 on the frame 3 are opposite, the manipulator 1 drives the clamping fixture 12 to clamp the yarn bobbin 2. Then the controller 9 controls the manipulator 1 to drive the yarn bobbin 2 to be placed on the transition storage frame 6. Then the controller 9 controls the clamping fixture 12 on the manipulator 1 to move to the raw yarn group on the production line. When the camera detector 11 detects that the clamping fixture 12 and the raw yarn group on the production line are opposite, the manipulator 1 drives the clamping fixture 12 to clamp the raw yarn group. Then the controller 9 controls the manipulator 1 to drive the raw yarn group to be placed on the yarn bobbin 2 on the transition storage frame 6. Finally, the manipulator 1 drives the yarn bobbin 2 loaded with the raw yarn group to be loaded on the frame 3. When all the raw yarn groups are loaded on the frame 3, the frame 3 and the base 4 can be separated.

[0034] The basic principle, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited to the above-mentioned embodiments, and the above-mentioned embodiments 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 present application.

Claims

1. A vision detection based raw silk feeding and unloading device, comprising a base (4) and a mechanical hand (1) connected to the base (4), characterized in that: The middle part of the base (4) is relatively distributed with an abutting belt (72), the second rotating wheel (77) and the first rotating wheel (74) are inserted on the abutting belt (72), the two ends of the first rotating wheel (74) and the second rotating wheel (77) are fixed with rotating rods (78), the rotating rods (78) are sleeved with sleeve rods (79), and the lower end of the sleeve rod (79) is fixed with the base (4); The abutting belt (72) is abutted with a moving seat (41), the top of the abutting belt (72) is fixed with a pushing block (73), the pushing block (73) and the moving seat (41) are abutted, the moving seat (41) is fixed with a frame body (3), and the frame body (3) is fixed with a yarn cylinder (2); The base (4) is fixed with a distance measuring sensor (43), the base (4) is fixed with an electric push rod (54) between the two abutting belts (72), and the output end of the electric push rod (54) is fixed with a clamping plate (53).

2. The raw silk loading and unloading device based on visual detection according to claim 1, characterized in that, The inner wall of the abutting belt (72) is fixed with a driving tooth (76) at equal intervals, the side wall of the first rotating wheel (74) and the second rotating wheel (77) is provided with a pushing tooth (75), the pushing tooth (75) and the driving tooth (76) are engaged, the sealing shell (7) is fixed between the two sleeve rods (79) on the same side, and the sealing shell (7) does not contact the abutting belt (72).

3. The raw silk loading and unloading device based on visual detection according to claim 1, characterized in that, The sleeve rod (79) near the second rotating wheel (77) is fixed with a mounting seat (8), the mounting seat (8) is embedded with a mounting shell (88), the mounting shell (88) is rotatably provided with a transmission column (84), the transmission column (84) and the inner wall of the mounting seat (8) are fixed with a winding spring (810), the transmission column (84) is sleeved with a supporting ring (85), the supporting ring (85) is embedded in the mounting seat (8), and the end, away from the mounting shell (88), of the transmission column (84) is fixed with the rotating rod (78).

4. The visual detection based raw yarn feeding and unloading apparatus according to claim 3, characterized in that, The part, where the transmission column (84) and the mounting seat (8) penetrate, is provided with an air guide cavity (87), the air guide cavity (87) is located between the supporting ring (85) and the mounting shell (88), the inside of the air guide cavity (87) is distributed with a fan blade (89) at equal intervals, the fan blade (89) and the transmission column (84) are fixed, the gas outlet end of the air guide cavity (87) is fixed with an air guide pipe (81), the air guide pipe (81) is fixed with a gas distribution pipe (82), the inner cavity of the air guide pipe (81) and the gas distribution pipe (82) are communicated, and the gas outlet ends of the air guide pipe (81) and the gas distribution pipe (82) are fixed with air blowing assemblies.

5. The visual detection based raw yarn feeding and unloading apparatus according to claim 4, characterized in that, The air blowing assembly comprises a sleeve pipe (83) and a gas collecting ring (86), the sleeve pipe (83) is fixed on the air guide pipe (81) and the gas distribution pipe (82), the gas collecting ring (86) is distributed in the inside of the sleeve pipe (83), the gas collecting ring (86) is communicated with the inner cavities of the air guide pipe (81) and the gas distribution pipe (82), the side, close to the rotating rod (78), of the gas collecting ring (86) is fixed with an insertion pipe (811) at equal intervals, and the inner cavities of the insertion pipe (811) and the gas collecting ring (86) are communicated.

6. The visual detection based raw yarn feeding and unloading apparatus according to claim 5, characterized in that, The sleeve joint rod (79) close to the mounting base (8) side is fixed with a gas distribution ring (71), the gas distribution ring (71) is equidistantly provided with holes, and the gas distribution ring (71) is sleeved on the plug-in pipe (811) through the holes.

7. The visual detection based raw yarn feeding and unloading apparatus according to claim 1, wherein The base (4) is fixed with a baffle (5), the baffle (5) is not in contact with the abutting belt (72), both ends of the baffle (5) are fixed with side baffle pieces (51), the side baffle pieces (51) are fixed with the sleeve joint rod (79), and meanwhile the side baffle pieces (51) are not in contact with the abutting belt (72), and the base (4) side, away from the baffle (5), is fixed with an inclined plate (52).

8. The visual detection based raw yarn feeding and unloading apparatus according to claim 1, wherein, The base (4) top surface sides are fixed with transition storage racks (6), the base (4) is embedded with a storage battery (42), and one side of the base (4) is fixed with a controller (9).

9. The visual detection based raw yarn feeding and unloading apparatus according to claim 1, wherein, The working end of the mechanical arm (1) is fixed with a clamping jig (12), the part close to the clamping jig (12) of the mechanical arm (1) is fixed with a camera detector (11), and the mechanical arm (1) is distributed on the base (4) top surface sides.

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