A full-automatic yarn package equipment with machine vision

Abstract

The utility model provides a kind of full-automatic packing equipment of spindle with machine vision, comprising: mechanical arm;Grabbing component, the grabbing component is set in one end of the mechanical arm;Fixed plate, the fixed plate is set in one side of the grabbing component;Visual component, the visual component is fixedly installed in the bottom of the fixed plate.The utility model provides a kind of full-automatic packing equipment of spindle with machine vision, by the setting of cleaning component, when using, pull rope drives moving plate and scraper to move, so that the top of scraper can scrape the impurities on the bottom of visual component, in this way, effectively avoid the problem that fluff accumulation affects image acquisition definition, ensure the accuracy of visual system on spindle position and attitude determination, reduce the case of mechanical claw grabbing failure, so as to improve the running stability of entire packing line and product packaging quality.

Description

Technical Field

[0001] This utility model relates to the field of automated yarn packaging technology, and in particular to a fully automated yarn packaging device with machine vision. Background Technology

[0002] In the operation of automated yarn packaging lines, in order to achieve fully automated operation of yarn spindles from conveying and positioning to final packaging, multiple key workstations need to accurately grasp and transfer the yarn spindles. Since there may be positional deviations and posture differences in the production and conveying process of yarn spindles, in order to ensure that the robotic claw can accurately identify the position, angle and other information of the yarn spindle, and thus complete stable grasping and subsequent packaging actions, the industry generally equips the robotic claw with machine vision devices.

[0003] These vision devices acquire and analyze images of yarn spindles in real time, providing precise positioning guidance for robotic grippers and greatly improving the automation and efficiency of packaging lines. However, in actual production environments, yarn spindles are fibrous products, which are prone to generating a large amount of fluff during conveying and gripping. This fluff gradually disperses as the equipment operates and continues to adhere to the surface of the vision device, which is in operation for a long time.

[0004] Over time, the lint accumulated on the surface of the vision device will increase, forming a layer of obstruction that severely hinders light penetration and image acquisition. This leads to a significant decrease in the clarity of the yarn spindle images captured by the vision device, and may even result in blurred or missing key feature information. This not only affects the accuracy of the vision system in judging the position and posture of the yarn spindle, but may also cause the mechanical gripper to make mistakes, thereby affecting the operational stability of the entire packaging line and the quality of product packaging.

[0005] Therefore, it is necessary to provide a fully automated yarn packaging device with machine vision to solve the above-mentioned technical problems. Utility Model Content

[0006] This invention provides a fully automatic yarn spindle packaging device with machine vision, which solves the problem that the surface of the vision component is prone to lint adhesion, which not only affects the accuracy of the vision system in judging the position and posture of the yarn spindle, but may also lead to mechanical claw grasping errors, thereby affecting the operational stability of the entire packaging line and the product packaging quality.

[0007] To solve the above-mentioned technical problems, this utility model provides a fully automatic yarn spindle packaging device with machine vision, comprising:

[0008] robotic arm;

[0009] A gripping component is disposed at one end of the robotic arm;

[0010] A fixing plate is disposed on one side of the gripping component;

[0011] A vision component, which is fixedly mounted on the bottom of the fixing plate;

[0012] A cleaning assembly is disposed at the bottom of the fixed plate. The cleaning assembly includes side plates, a sliding rod, a spring, a movable plate, a scraper, a guide rod, and a pull rope. The side plates are fixedly installed on both sides of the bottom of the fixed plate. The sliding rod is fixedly installed on the inner side of the side plate. The spring is sleeved on the outer side of the sliding rod. The movable plate is slidably connected to the outer side of the sliding rod. The scraper is disposed at the top of the movable plate. The guide rod is fixedly installed at one end between the two side plates. The pull rope is fixedly installed at both ends on one side of the movable plate. A connecting plate is fixedly installed at one end of the pull rope.

[0013] Preferably, the gripping assembly includes a mounting frame, a cylinder, a rotating seat, a connector, a moving block, a clamping plate, a slide groove, and a moving rod. The mounting frame is fixedly mounted on one end of the robotic arm, the cylinder is fixedly mounted on the top of the mounting frame, the rotating seat is fixedly mounted on the moving end of the cylinder, the connector is rotatably connected to both ends of the inner side of the rotating seat, the moving block is rotatably connected to one end of the connector, the clamping plate is fixedly mounted on the bottom of the moving block, the slide grooves are respectively opened on both sides of the mounting frame, the moving rod is slidably connected to the inner side of the slide groove, and one end of the moving rod is fixedly mounted on the side of the rotating seat.

[0014] Preferably, the gripping component further includes two slide rails, which are fixedly installed on both sides of the inner side of the mounting frame and slidably connected to the interior of both sides of the moving block.

[0015] Preferably, the connecting plate is fixedly installed at the other end of the moving rod, and the fixing plate is fixedly installed on the side of the mounting frame.

[0016] Preferably, the top of the scraper abuts against the bottom of the vision component.

[0017] Preferably, the fully automatic yarn packaging equipment with machine vision further includes a moving trough, an adjusting plate, and a locking screw. The moving trough is opened inside the moving plate, the adjusting plate is slidably connected to the inner side of the moving trough, the top of the adjusting plate is fixedly installed to the bottom of the scraper, and the locking screw is threadedly connected to the inside of the side of the moving plate.

[0018] Preferably, one end of the locking screw abuts against the side of the adjusting plate.

[0019] Compared with related technologies, the fully automatic yarn spindle packaging equipment with machine vision provided by this utility model has the following beneficial effects:

[0020] This invention provides a fully automatic yarn spindle packaging device with machine vision. Through the setting of the cleaning component, during use, the pull rope drives the moving plate and scraper to move, so that the top of the scraper can scrape away impurities at the bottom of the vision component. In this way, the problem of lint accumulation affecting the image acquisition clarity is effectively avoided, ensuring the accuracy of the vision system in judging the position and posture of the yarn spindle, reducing the possibility of mechanical claw grasping errors, thereby improving the operational stability of the entire packaging line and the product packaging quality. Attached Figure Description

[0021] Figure 1 A schematic diagram of the structure of a first embodiment of a fully automatic yarn spindle packaging device with machine vision provided by this utility model;

[0022] Figure 2 for Figure 1 The diagram shows the structure of the grabbing component.

[0023] Figure 3 for Figure 2 The diagram shows another view of the grabbing component's structure.

[0024] Figure 4 for Figure 2 The diagram shows the structure of the cleaning component and the vision component.

[0025] Figure 5 This is a schematic diagram of the second embodiment of a fully automatic yarn packaging device with machine vision provided by this utility model.

[0026] Numbered in the diagram: 1. Robotic arm, 2. Gripping assembly, 21. Mounting frame, 22. Cylinder, 23. Rotating seat, 24. Connecting rod, 25. Moving block, 26. Slide rail, 27. Clamping plate, 28. Slide groove, 29. Moving rod, 3. Fixing plate, 4. Vision assembly, 5. Cleaning assembly, 51. Side plate, 52. Slide rod, 53. Spring, 54. Moving plate, 55. Scraper, 56. Guide rod, 57. Pull rope, 6. Connecting plate, 7. Moving groove, 8. Adjusting plate, 9. Locking screw. Detailed Implementation

[0027] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0028] First Embodiment

[0029] Please refer to the following: Figure 1 , Figure 2 , Figure 3 , Figure 4,in, Figure 1 A schematic diagram of the structure of a first embodiment of a fully automatic yarn spindle packaging device with machine vision provided by this utility model; Figure 2 for Figure 1 The diagram shows the structure of the grabbing component. Figure 3 for Figure 2 The diagram shows another view of the grabbing component's structure.

[0030] Figure 4 for Figure 2 The diagram shows the structure of the cleaning component and the vision component. A fully automated yarn packaging device with machine vision includes: a robotic arm 1;

[0031] Gripping component 2, wherein the gripping component 2 is disposed at one end of the robotic arm 1;

[0032] Fixing plate 3, the fixing plate 3 is disposed on one side of the gripping component 2;

[0033] Vision component 4, which is fixedly installed on the bottom of the fixing plate 3;

[0034] Cleaning component 5 is disposed at the bottom of the fixed plate 3. The cleaning component 5 includes side plates 51, slide rods 52, springs 53, moving plates 54, scrapers 55, guide rods 56, and pull ropes 57. The side plates 51 are respectively fixedly installed on both sides of the bottom of the fixed plate 3. The slide rods 52 are fixedly installed on the inner side of the side plates 51. The springs 53 are sleeved on the outer side of the slide rods 52. The moving plates 54 are slidably connected to the outer side of the slide rods 52. The scrapers 55 are disposed on the top of the moving plates 54. The guide rods 56 are fixedly installed at one end between the two side plates 51. The pull ropes 57 are respectively fixedly installed at both ends of one side of the moving plates 54. A connecting plate 6 is fixedly installed at one end of the pull ropes 57.

[0035] The gripping assembly 2 includes a mounting frame 21, a cylinder 22, a rotating seat 23, a connector 24, a moving block 25, a clamping plate 27, a sliding groove 28, and a moving rod 29. The mounting frame 21 is fixedly mounted on one end of the robotic arm 1. The cylinder 22 is fixedly mounted on the top of the mounting frame 21. The rotating seat 23 is fixedly mounted on the moving end of the cylinder 22. The connector 24 is rotatably connected to both ends of the inner side of the rotating seat 23. The moving block 25 is rotatably connected to one end of the connector 24. The clamping plate 27 is fixedly mounted on the bottom of the moving block 25. The sliding groove 28 is respectively opened on both sides of the mounting frame 21. The moving rod 29 is slidably connected to the inner side of the sliding groove 28. One end of the moving rod 29 is fixedly mounted on the side of the rotating seat 23.

[0036] The gripping component 2 also includes two slide rails 26, which are fixedly installed on both sides of the inner side of the mounting frame 21, and are slidably connected to the inside of both sides of the moving block 25.

[0037] The connecting plate 6 is fixedly installed at the other end of the moving rod 29, and the fixing plate 3 is fixedly installed on the side of the mounting frame 21.

[0038] The top of the scraper 55 abuts against the bottom of the vision component 4.

[0039] The vision component 4 is an industrial camera. When in use, it can identify the position and shape of the yarn spindle, which makes it easier for the robotic arm 1 to control the gripping component 2 to clamp and transfer the yarn spindle.

[0040] When the moving rod 29 is at the bottom of the inner side of the slide 28, the spring 53 is in the extended state. At this time, the moving plate 54 is at the front end between the two side plates 51. When the moving rod 29 moves upward on the inner side of the slide 28, the moving rod 29 will drive the two pull ropes 57 to move upward through the connecting plate 6, so that the two pull ropes 57 pull the two ends of the side of the moving plate 54, so that the moving plate 54 drives the scraper 55 to clean the dust at the bottom of the vision component 4.

[0041] By setting the slide rail 26, it can limit the two moving blocks 25 during use, so that the two moving blocks 25 move horizontally towards the middle, thereby allowing the two clamping plates 27 to clamp and limit the yarn spindle.

[0042] The working principle of the fully automatic yarn spindle packaging equipment with machine vision provided by this utility model is as follows:

[0043] When the equipment starts working, the robotic arm 1 moves the gripping component 2 and vision component 4 to the vicinity of the yarn spindle. The vision component 4 collects image information of the yarn spindle in real time, analyzes the position and posture of the yarn spindle and feeds the data back to the control system to provide precise guidance for the gripping action.

[0044] When gripping the spindle, the cylinder 22 is activated, and its moving end drives the rotating seat 23 to move upward. The rotating seat 23, through the connecting piece 24, drives the moving blocks 25 on both sides to move towards the middle along the slide rail 26. The clamping plate 27 at the bottom of the moving block 25 closes accordingly, completing the clamping of the spindle. At the same time, the moving rod 29 on the side of the rotating seat 23 slides upward synchronously along the slide groove 28 to ensure the stability of the movement of the rotating seat 23.

[0045] During the opening and closing of the gripping component 2, the connecting plate 6 at the other end of the moving rod 29 pulls the pull rope 57. The pull rope 57 drives the moving plate 54 to slide along the slide rod 52 and compress the spring 53. The scraper 55 on the top of the moving plate 54 then slides at the bottom of the vision component 4 to clean the lint attached to the surface. When the gripping component 2 releases the spindle, the cylinder 22 drives the rotating seat 23 to reset. The elastic force of the spring 53 pushes the moving plate 54 to slide in the opposite direction, and the scraper 55 cleans the surface of the vision component 4 again, realizing the linkage between the gripping action and the cleaning action.

[0046] Compared with related technologies, the fully automatic yarn spindle packaging equipment with machine vision provided by this utility model has the following beneficial effects:

[0047] By configuring the cleaning component 5, during use, the pull rope 57 moves the moving plate 54 and the scraper 55, allowing the top of the scraper 55 to scrape away impurities from the bottom of the vision component 4. This effectively avoids the problem of lint accumulation affecting the clarity of image acquisition, ensures the accuracy of the vision system's judgment of the yarn spindle position and posture, reduces the occurrence of mechanical claw grasping errors, and thus improves the operational stability of the entire packaging line and the quality of product packaging.

[0048] Second Embodiment

[0049] Please refer to the following: Figure 5 Based on the first embodiment of this application, which provides a fully automatic yarn packaging device with machine vision, the second embodiment of this application proposes another fully automatic yarn packaging device with machine vision. The second embodiment is merely a preferred embodiment of the first embodiment, and the implementation of the second embodiment will not affect the separate implementation of the first embodiment.

[0050] Specifically, the second embodiment of this application provides a fully automatic yarn packaging device with machine vision, which differs in that the fully automatic yarn packaging device with machine vision also includes a moving groove 7, an adjusting plate 8, and a locking screw 9. The moving groove 7 is opened inside the moving plate 54, the adjusting plate 8 is slidably connected to the inner side of the moving groove 7, the top of the adjusting plate 8 is fixedly installed to the bottom of the scraper 55, and the locking screw 9 is threadedly connected to the inside of the side of the moving plate 54.

[0051] One end of the locking screw 9 abuts against the side of the adjusting plate 8.

[0052] The working principle of the fully automatic yarn spindle packaging equipment with machine vision provided by this utility model is as follows:

[0053] When it is necessary to adjust the fit between the scraper 55 and the vision component 4, the locking screw 9 can be loosened first. At this time, the adjusting plate 8 is released from its fixed state and can slide up and down along the inner side of the moving groove 7. By moving the adjusting plate 8, the top scraper 55 can be moved up and down synchronously until the top of the scraper 55 and the bottom of the vision component 4 reach the ideal contact force. After the adjustment is completed, tighten the locking screw 9 so that one end of it is pressed against the side of the adjusting plate 8, and fix the relative position of the adjusting plate 8 and the moving plate 54, thereby ensuring that the scraper 55 always maintains a stable working state in subsequent cleaning operations.

[0054] Compared with related technologies, the fully automatic yarn spindle packaging equipment with machine vision provided by this utility model has the following beneficial effects:

[0055] The combination of the movable groove 7, adjusting plate 8, and locking screw 9 allows for flexible adjustment of the contact force between the scraper 55 and the vision component 4 according to actual usage needs. When the scraper 55 wears down due to long-term use, or when the contact pressure needs to be changed according to the cleaning requirements of the vision component 4 surface, the locking screw 9 can be loosened, allowing the adjusting plate 8 to slide up and down along the movable groove 7. This adjusts the height of the scraper 88 until a suitable contact state is achieved. Then, the locking screw 9 is tightened to fix the position of the adjusting plate 8. In this way, the fit between the scraper 55 and the vision component 4 can be adjusted as needed, ensuring that the cleaning component 5 maintains a good cleaning effect during long-term use. This avoids incomplete cleaning caused by scraper 55 wear or improper fit, further ensuring the clarity of the image acquisition by the vision component, extending the service life of the cleaning component 5, and improving the overall stability and adaptability of the equipment.

[0056] The above description is merely an embodiment of this utility model and does not limit the patent scope of this utility model. Any equivalent structural or procedural transformations made based on the content of this utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this utility model.

Claims

1. A fully automatic yarn spindle packaging device with machine vision, characterized in that, include: robotic arm; A gripping component is disposed at one end of the robotic arm; A fixing plate is disposed on one side of the gripping component; A vision component, which is fixedly mounted on the bottom of the fixing plate; A cleaning assembly is disposed at the bottom of the fixed plate. The cleaning assembly includes side plates, a sliding rod, a spring, a movable plate, a scraper, a guide rod, and a pull rope. The side plates are fixedly installed on both sides of the bottom of the fixed plate. The sliding rod is fixedly installed on the inner side of the side plate. The spring is sleeved on the outer side of the sliding rod. The movable plate is slidably connected to the outer side of the sliding rod. The scraper is disposed at the top of the movable plate. The guide rod is fixedly installed at one end between the two side plates. The pull rope is fixedly installed at both ends on one side of the movable plate. A connecting plate is fixedly installed at one end of the pull rope.

2. The fully automatic yarn spindle packaging equipment with machine vision according to claim 1, characterized in that, The gripping assembly includes a mounting frame, a cylinder, a rotating base, a connector, a moving block, a clamping plate, a slide groove, and a moving rod. The mounting frame is fixedly mounted on one end of the robotic arm, the cylinder is fixedly mounted on the top of the mounting frame, the rotating base is fixedly mounted on the moving end of the cylinder, the connector is rotatably connected to both ends of the inner side of the rotating base, the moving block is rotatably connected to one end of the connector, the clamping plate is fixedly mounted on the bottom of the moving block, the slide grooves are respectively opened on both sides of the mounting frame, the moving rod is slidably connected to the inner side of the slide groove, and one end of the moving rod is fixedly mounted on the side of the rotating base.

3. The fully automatic yarn spindle packaging equipment with machine vision according to claim 2, characterized in that, The gripping component also includes two slide rails, which are fixedly installed on both sides of the inner side of the mounting frame and slidably connected to the inside of both sides of the moving block.

4. The fully automatic yarn spindle packaging equipment with machine vision according to claim 3, characterized in that, The connecting plate is fixedly installed at the other end of the moving rod, and the fixing plate is fixedly installed on the side of the mounting frame.

5. The fully automatic yarn spindle packaging equipment with machine vision according to claim 1, characterized in that, The top of the scraper abuts against the bottom of the vision component.

6. The fully automatic yarn spindle packaging equipment with machine vision according to claim 1, characterized in that, It also includes a movable groove, an adjusting plate, and a locking screw. The movable groove is formed inside the movable plate, the adjusting plate is slidably connected to the inner side of the movable groove, the top of the adjusting plate is fixedly installed to the bottom of the scraper, and the locking screw is threadedly connected to the inside of the side of the movable plate.

7. The fully automatic yarn spindle packaging equipment with machine vision according to claim 6, characterized in that, One end of the locking screw abuts against the side of the adjusting plate.

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