Truss yarn unloading robot equipment

Abstract

The invention discloses truss yarn unloading robot equipment, and relates to the technical field of yarn unloading, the truss yarn unloading robot equipment comprises a truss, a shaft rotating piece is arranged at the bottom of the truss, a supporting column is arranged at the bottom of the shaft rotating piece, and a plurality of supporting rods distributed at equal intervals are arranged in the supporting column; yarn carrying mechanisms used for being matched with the truss to clamp and unload yarns are arranged at one ends of the multiple supporting rods, and yarn cylinders are arranged on the outer surfaces of the yarn carrying mechanisms. The air flushing ring is filled with air through the ventilation pipe and the air guide pipe, so that the air flushing ring expands and is tightly attached to the inner wall of the yarn bobbin, stable supporting is provided, the yarn bobbin is prevented from shaking or inclining in the carrying process, damage possibly caused by traditional rigid supporting is avoided, and the yarn bobbin carrying device is suitable for being used for carrying yarn bobbins. The frosted protrusions are attached to the inner wall of the yarn bobbin when the air impact ring expands, additional friction force is increased, and the stability in the carrying process is further enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of yarn unloading, and particularly relates to a truss yarn unloading robot device. Background Art

[0002] The truss yarn unloading robot is an automated device specifically designed for the textile industry, aiming to efficiently and safely handle yarn bobbins and ensure that the quality of the yarn is not affected during the handling process.

[0003] For example, the publication number is CN107366112A, and the name is an automatic yarn loading and unloading integrated machine for cheese yarn. It includes a base, a lifting bracket, and a flipping bracket. The above-mentioned automatic yarn loading and unloading integrated machine for cheese yarn realizes the operations of yarn loading and unloading on one device. It not only has a compact structure, ingenious design, and small occupied space, but also improves production efficiency, saves manpower, and reduces production costs.

[0004] During the handling process of the yarn bobbin, if the support is unstable, it is easy to cause sliding or falling, which may lead to production interruption or safety accidents. Moreover, the above-mentioned inner support structure is not only difficult to adapt to yarn bobbins with different inner diameter specifications, has poor versatility, but also has obvious deficiencies in aspects such as handling the outer wall, controlling the support force, humidity adjustment, and static electricity elimination, affecting the handling safety and yarn quality. Therefore, this application provides a truss yarn unloading robot device to meet the requirements. Summary of the Invention

[0005] The purpose of this application is to provide a truss yarn unloading robot device, which can effectively solve the problems raised in the above background art.

[0006] To achieve the above purpose, this application provides the following technical solution: A truss yarn unloading robot device includes a truss. An axial rotating member is provided at the bottom of the truss, a support column is provided at the bottom of the axial rotating member, and a plurality of support rods are arranged at equal intervals inside the support column. One end of each of the plurality of support rods is provided with a yarn handling mechanism for cooperating with the truss to clamp and unload yarn, and a yarn bobbin is arranged on the outer surface of the yarn handling mechanism. The yarn handling mechanism includes a sleeve assembly, a cylinder support assembly, a yarn unloading assembly, and a support frame assembly for adjusting different handling devices according to different yarn handling requirements. The sleeve assembly covers the outside of the yarn bobbin for handling the yarn bobbin and adjusting the dryness of the yarn surface. The cylinder support assembly supports the inner wall of the yarn bobbin for adjusting the angle of the yarn bobbin during handling. The yarn unloading assembly is used to support yarn bobbins with different inner diameters. The support frame assembly is used to automatically adjust the support force applied to the yarn bobbin.

[0007] Among them, the sleeve assembly includes an air disk, the air disk is installed at one end of the support rod, an air pipe is arranged on one side of the air disk, one end of the air pipe is communicated with the atomizing air pipe, several air nozzles are arranged at one end of the air disk, a cover cylinder is sleeved on the outer surface of the air disk, an expansion cylinder is arranged at one end of the cover cylinder, and support ribs are arranged on the inner wall of the expansion cylinder.

[0008] Among them, a load-bearing frame is arranged in the middle of one end of the air disk, a support plate is arranged on one side of the load-bearing frame, and an installation groove is opened inside the support plate.

[0009] Among them, an air pipe is arranged in the middle of one end of the air disk, a guide air pipe is connected inside the air pipe, one end of the guide air pipe is connected with an air impact ring, several abrasive protrusions are arranged on the outer surface of the air impact ring, and the abrasive protrusions are installed inside the installation groove. The air impact ring and the support plate are both in contact with the inner wall of the yarn cylinder.

[0010] Among them, the support cylinder assembly includes a mounting shaft, the mounting shaft is installed at one end of the support rod, a shaft rod is arranged inside the mounting shaft, a support frame is rotatably installed on the outer surface of the shaft rod, arc plates are arranged on both sides of the support frame, and two electric push rods are rotatably installed on one side of the support frame. And both electric push rods are arranged inside the mounting shaft.

[0011] Among them, anti-slip patterns are arranged on the surface of the arc plate, and the arc plate is in contact with the inner wall of the yarn cylinder.

[0012] Among them, the yarn unloading assembly includes a screw rod box, the screw rod box is installed at one end of the support rod, a screw rod is arranged inside the screw rod box, a driving motor is arranged at one end of the screw rod, and several support blocks are arranged on one side of the screw rod box in an annular array.

[0013] Among them, a semi-gear is rotatably installed inside the support block, and the semi-gear is matched with the screw rod. A support frame is arranged on the outer surface of the semi-gear, a rubber pad is arranged on one side of the support frame, and convex strips are arranged on the surface of the rubber pad.

[0014] Among them, the support frame assembly includes a shaft rod box, the shaft rod box is installed at one end of the support rod, a threaded rod is arranged inside the shaft rod box, several installation blocks are arranged on one side of the shaft rod box in an annular array, and a semi-toothed disk is rotatably installed inside each of the several installation blocks. And the semi-toothed disk is matched with the installation block.

[0015] Among them, a triangular frame is arranged on the outer surface of the semi-toothed disk, a top plate is rotatably installed on one side of the triangular frame, an airbag pad is arranged at the included angle between the top plate and the triangular frame, side plates are arranged on both sides of the airbag pad, and a hinge is arranged between the top plate and the triangular frame.

[0016] In summary, the technical effects and advantages of the present invention are as follows: 1. The present invention fills air into the air impact ring through the ventilation pipe and the air guide pipe, causing the air impact ring to expand and closely fit the inner wall of the yarn cylinder. This not only provides stable support to prevent the yarn cylinder from shaking or tilting during handling, but also avoids damage that may be caused by traditional rigid supports. The provided abrasive protrusions fit the inner wall of the yarn cylinder when the air impact ring expands, increasing additional friction and further enhancing the stability during handling. The atomized gas ejected through the air pipe is evenly sprayed onto the surface of the yarn cylinder through the air nozzles inside the air disc. The cover cylinder and the expansion cylinder then guide the atomized gas to spread and cover the entire surface of the yarn cylinder, regulating the humidity of the yarn cylinder and preventing problems such as yarn resurgence or excessive drying due to environmental changes. The atomized gas can not only regulate humidity but also contain antistatic components, effectively neutralizing the static charges on the surface of the yarn, reducing the influence of static electricity on the yarn, preventing the yarn from tangling together or adsorbing dust. The cover cylinder and the expansion cylinder are arranged outside the yarn cylinder to form a relatively enclosed small environment, which can better protect the yarn from adverse factors such as external dust and moisture, ensuring the cleanliness and quality of the yarn. Especially, the real-time regulation of the humidity of the yarn cylinder and the elimination of static electricity during handling can significantly improve the quality stability of the yarn and create good conditions for subsequent knitting processes.

[0017] 2. The present invention uses an electric push rod to push the support frame to rotate around the shaft rod, driving the arc plate to tilt upward, so that the yarn cylinder is "lifted" and restricted on the arc plate during handling, forming a self-locking support structure to effectively prevent it from falling. By controlling the support frame to drive the arc plate to tilt downward, the automatic unloading of the yarn cylinder can be realized, allowing it to slide out naturally, significantly improving the convenience and automation level of yarn unloading. After the arc plate penetrates into the yarn cylinder, the angle of the support frame can be adjusted to adapt to yarn cylinders of different heights or diameters, enhancing the compatibility of the equipment with various specifications of yarn cylinders.

[0018] 3. The present invention drives the support block and the semi-gear to move through the screw rod box, and drives the screw rod to rotate by a driving motor, thereby adjusting the angle of the support frame to adapt to yarn cylinders of different inner diameters, enabling the equipment to flexibly handle various specifications of yarn cylinders. Moreover, the support frame is equipped with rubber pads, which provide additional friction when the support frame unfolds and touches the inner wall of the yarn cylinder, ensuring the stability of the yarn cylinder during handling.

[0019] 4. The present invention drives the semi-toothed disc to rotate through the rotation of the threaded rod, and then pushes the tripod to open and close, and can flexibly adjust the position of the support point according to the actual inner diameter size of the yarn cylinder to ensure stable support for various specifications of yarn cylinders. The airbag pad between the plate and the tripod can generate elastic force when being squeezed, automatically adjusting the support force on the yarn cylinder. It not only provides sufficient friction to prevent the yarn cylinder from sliding, but also avoids deformation or other damage caused by excessive extrusion. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those skilled in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 Schematic diagram of the three-dimensional structure of the truss yarn unloading robot device; Figure 2 Schematic diagram of the three-dimensional structure of the sleeve assembly; Figure 3 Schematic diagram of the three-dimensional connection structure of the support cylinder assembly; Figure 4 Schematic diagram of the three-dimensional connection structure of the sleeve assembly and the support rod; Figure 5 Schematic diagram of the three-dimensional connection structure of the sleeve assembly; Figure 6 Schematic diagram of the partial three-dimensional connection structure of the sleeve assembly; Figure 7 First perspective three-dimensional connection structure cross-sectional view of the sleeve assembly; Figure 8 Second perspective three-dimensional connection structure cross-sectional view of the sleeve assembly; Figure 9 Schematic diagram of the three-dimensional connection structure of the load-bearing frame and the air disc; Figure 10 Schematic diagram of the three-dimensional connection structure of the ventilation pipe and the air impact ring; Figure 11 Schematic diagram of the three-dimensional connection structure of the air impact ring; Figure 12 Schematic diagram of the three-dimensional connection structure of the support cylinder assembly; Figure 13 Three-dimensional connection structure cross-sectional view of the support cylinder assembly; Figure 14 Schematic diagram of the three-dimensional connection structure of the yarn unloading assembly; Figure 15 Schematic diagram of the partial three-dimensional connection structure of the yarn unloading assembly; Figure 16 Schematic diagram of the three-dimensional connection structure of the support frame assembly; Figure 17 Schematic diagram of the partial first perspective three-dimensional connection structure of the support frame assembly; Figure 18 Schematic diagram of the partial second perspective three-dimensional connection structure of the support frame assembly; Figure 19Schematic diagram of the three-dimensional connection structure of the airbag pad and the top plate.

[0022] In the figure: 1, truss; 2, support column; 3, support rod; 4, shaft rotating part; 5, sleeve assembly; 50, support plate; 51, expanding cylinder; 52, support rib; 53, cover cylinder; 54, air vent; 55, air impact ring; 56, air pipe; 57, air disc; 58, ventilation pipe; 59, load-bearing frame; 511, installation groove; 512, abrasive protrusion; 513, air guide pipe; 6, support cylinder assembly; 61, installation shaft; 62, arc plate; 63, support frame; 64, electric push rod; 65, shaft rod; 7, yarn unloading assembly; 71, screw rod box; 72, support block; 73, screw rod; 74, semi-gear; 75, support frame; 77, rubber pad; 8, support frame assembly; 81, shaft rod box; 82, installation block; 83, threaded rod; 84, semi-tooth disc; 85, tripod; 86, top plate; 87, side plate; 88, airbag pad; 89, hinge; 9, yarn bobbin. Specific implementation mode

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] Embodiment 1. Refer to Figures 1 to 19 A truss yarn unloading robot device as shown, including a truss 1, a shaft rotating part 4 is arranged at the bottom of the truss 1, a support column 2 is arranged at the bottom of the shaft rotating part 4, and a plurality of support rods 3 are arranged at equal intervals inside the support column 2. One end of each of the plurality of support rods 3 is provided with a yarn handling mechanism for cooperating with the truss 1 to clamp and unload yarn, and a yarn bobbin 9 is arranged on the outer surface of the yarn handling mechanism; The yarn handling mechanism includes a sleeve assembly 5, a support cylinder assembly 6, a yarn unloading assembly 7, and a support frame assembly 8 for adjusting different handling devices according to different yarn handling requirements. The sleeve assembly 5 covers the outside of the yarn bobbin 9 for handling the yarn bobbin 9 and adjusting the dryness of the yarn surface. The support cylinder assembly 6 supports the inner wall of the yarn bobbin 9 for adjusting the angle of the yarn bobbin 9 during handling. The yarn unloading assembly 7 is used to support the yarn bobbin 9 with different inner diameters, and the support frame assembly 8 is used to automatically adjust the support force applied to the yarn bobbin 9.

[0025] It should be noted that the truss 1 drives the support column 2 to move, and then the shaft rotating part 4 drives the support column 2 to rotate at different angles. Then, the support rod 3 pushes the yarn handling mechanism to move to clamp and move the yarn bobbin 9.

[0026] Among them, the sleeve assembly 5 adjusts the humidity through physical isolation covering the outside of the yarn bobbin 9 to match the drying requirements of different fiber materials such as cotton, chemical fiber or blended yarns, avoiding problems such as yarn moisture regain or embrittlement caused by sudden changes in temperature and humidity during traditional handling. The support bobbin assembly 6 adopts a variable curvature support structure to adjust the inclination angle of the yarn bobbin 9 within the range of 0-20°, which is especially suitable for the directional drainage process after cheese dyeing. Compared with a handling cart with a fixed angle, the drainage time can be shortened by more than 15%. The support frame assembly 8 can dynamically adjust the clamping force according to the weight of the yarn bobbin, avoiding the deformation of the bobbin tube caused by overpressure of traditional mechanical clamps.

[0027] Embodiment 2: This embodiment provides a further technical solution for the sleeve assembly 5 in the yarn handling mechanism.

[0028] The sleeve assembly 5 includes an air disc 57, the air disc 57 is installed at one end of the support rod 3, a trachea 56 is arranged on one side of the air disc 57, and one end of the trachea 56 is communicated with an atomizing trachea. A plurality of air nozzles 54 are arranged at one end of the air disc 57, a cover cylinder 53 is sleeved on the outer surface of the air disc 57, an expanding cylinder 51 is arranged at one end of the cover cylinder 53, and support ribs 52 are arranged on the inner wall of the expanding cylinder 51.

[0029] A load-bearing frame 59 is arranged in the middle at one end of the air disc 57, a support plate 50 is arranged on one side of the load-bearing frame 59, and an installation groove 511 is opened inside the support plate 50.

[0030] A ventilation pipe 58 is arranged in the middle at one end of the air disc 57, a guide pipe 513 is connected inside the ventilation pipe 58, one end of the guide pipe 513 is connected with an air impact ring 55, a plurality of abrasive protrusions 512 are arranged on the outer surface of the air impact ring 55, and the abrasive protrusions 512 are installed inside the installation groove 511. Both the air impact ring 55 and the support plate 50 are in contact with the inner wall of the yarn bobbin 9.

[0031] It should be noted that when the yarn bobbin 9 is being handled, the support rod 3 pushes the air disc 57 to drive the load-bearing frame 59 to penetrate into the inner diameter of the yarn bobbin 9. Then, the ventilation pipe 58 fills the inside of the air impact ring 55 with air through the guide pipe 513. The inner wall of the yarn bobbin 9 is filled by the expansion of the air impact ring 55. After the arranged abrasive protrusions 512 are squeezed by the air impact ring 55, they fit with the inner wall of the yarn bobbin 9. And the arranged air impact ring 55 takes the Figure 11 shown shape; When the yarn bobbin 9 is being handled, the atomized gas is ejected through the trachea 56 and ejected through the air nozzles 54 inside the air disc 57. The arranged cover cylinder 53 and the expanding cylinder 51 both cover the outside of the yarn bobbin 9, so that the atomized gas diffuses on the surface of the yarn bobbin 9 through the guidance of the cover cylinder 53 and the expanding cylinder 51, thereby improving the drying degree of the yarn bobbin 9 and eliminating static electricity, facilitating the subsequent steps of using the yarn bobbin 9 for knitting.

[0032] Among them, the air impact ring 55 is inflated through the air pipe 58 so that it expands and fits against the inner wall of the yarn bobbin 9. Combining with the physical contact of the abrasive protrusions 512, multi-point friction anchoring is formed. The elastic material of the air impact ring 55 is such as silica gel or polyurethane, and the surface roughness Ra of the abrasive protrusions is ≥3.2 μm, which can increase the friction coefficient to 0.6 - 0.8, and the uniform pressing pressure range of the air impact ring 55 is 0.1 - 0.3 MPa.

[0033] The atomized gas conveyed through the air pipe 56 is deionized water or antistatic agent. The micron-sized droplet diameter of 10 - 50 μm is formed through the air nozzle 54 of the air disc 57, and is guided and diffused by the cover cylinder 53 and the expansion cylinder 51 to realize the humidity adjustment of the yarn surface, solve the problem of the moisture content difference between the inner and outer layers of the yarn bobbin after traditional drying. The spraying of deionized gas reduces the static voltage on the yarn surface from above 15 kV to ≤0.5 kV, reducing the flying yarn and broken ends caused by electrostatic adsorption during the weaving process.

[0034] Among them, moreover, air is filled into the air impact ring 55 through the air pipe 58 and the guide pipe 513, so that the air impact ring expands and tightly fits against the inner wall of the yarn bobbin 9. It not only provides stable support to prevent the yarn bobbin from shaking or tilting during handling, but also avoids the damage that may be caused by traditional rigid support. The set abrasive protrusions 512 fit against the inner wall of the yarn bobbin 9 when the air impact ring 55 expands, increasing additional friction and further enhancing the stability during handling. The atomized gas ejected through the air pipe 56 is evenly sprayed onto the surface of the yarn bobbin 9 through the air nozzle 54 inside the air disc 57, and the cover cylinder 53 and the expansion cylinder 51 guide the atomized gas to spread out, covering the entire surface of the yarn bobbin, adjusting the humidity of the yarn bobbin, and preventing problems such as yarn resurgence or excessive drying caused by environmental changes. The atomized gas can not only adjust the humidity, but also contain antistatic components, effectively neutralizing the static charges on the yarn surface, reducing the influence of static electricity on the yarn, and preventing the yarn from being wound together or adsorbing dust. The cover cylinder 53 and the expansion cylinder 51 are sleeved outside the yarn bobbin 9 to form a relatively enclosed small environment, which can better protect the yarn from adverse factors such as external dust and moisture, ensuring the cleanliness and quality of the yarn. Especially, adjusting the humidity of the yarn bobbin and eliminating static electricity in real time during handling can significantly improve the quality stability of the yarn and create good conditions for subsequent knitting processes.

[0035] Embodiment 3: This embodiment provides a further technical solution for the support cylinder assembly 6 in the yarn handling mechanism.

[0036] The support cylinder assembly 6 includes a mounting shaft 61. The mounting shaft 61 is installed at one end of the support rod 3. A shaft rod 65 is arranged inside the mounting shaft 61. A support frame 63 is rotatably installed on the outer surface of the shaft rod 65. Arc plates 62 are arranged on both sides of the support frame 63. Two electric push rods 64 are rotatably installed on one side of the support frame 63, and both of the two electric push rods 64 are arranged inside the mounting shaft 61.

[0037] The surface of the arc plate 62 is provided with anti-slip grooves, and the arc plate 62 is in contact with the inner wall of the yarn tube 9 .

[0038] It is worth mentioning that the installation shaft 61 is pushed to move by the support rod 3, so that the arc plate 62 is penetrated into the interior of the yarn tube 9. In the process of transporting the yarn tube 9, the support frame 63 is pushed to rotate on the outer surface of the shaft 65 by the electric push rod 64, and then the arc plate 62 is driven to tilt by the support frame 63. In the process of transporting the yarn tube 9, the support frame 63 should be controlled to drive the arc plate 62 to tilt upward, so as to ensure that the yarn tube 9 will not fall during the transportation and movement. In the process of unloading the yarn tube 9, the support frame 63 drives the arc plate 62 to tilt downward, so as to facilitate the removal of the yarn tube 9 from the surface of the arc plate 62.

[0039] Among them, the support frame 63 is driven to rotate around the shaft 65 by the servo electric push rod, so that a mechanical self-locking structure is formed when the arc plate 62 tilts upward. Combined with the anti-slip texture on the surface of the arc plate 62, the center of gravity of the yarn tube 9 is always on the inner side of the support surface. When tilted downward, the arc plate forms a 15° sliding angle with the horizontal plane. The yarn tube automatically slides down under the action of its own weight without the need for external force to push it up. The arc plate rises 15° to adapt to the drainage process of the yarn tube after dyeing. The inclination angle matches the winding direction of the yarn layer to reduce sliding between yarn layers.

[0040] In addition, the electric push rod 64 pushes the support frame 63 to rotate around the shaft 65, driving the arc plate 62 to tilt upward, so that the yarn tube 9 is "lifted" and restricted on the arc plate during transportation, forming a self-locking support structure, which effectively prevents it from falling. By controlling the support frame 63 to drive the arc plate 62 to tilt downward, the yarn tube 9 can be automatically unloaded and slide out naturally, which significantly improves the convenience and automation level of yarn unloading. After the arc plate 62 penetrates into the yarn tube 9, the angle of the support frame 63 can be adjusted to adapt to yarn tubes 9 of different heights or diameters, thereby improving the compatibility of the equipment with yarn tubes 9 of various specifications.

[0041] Embodiment 4: This embodiment provides a further technical solution for the yarn unloading assembly 7 in the yarn transporting mechanism.

[0042] The yarn unloading assembly 7 includes a spiral rod box 71, which is installed at one end of the support rod 3. A spiral rod 73 is arranged inside the spiral rod box 71, and a driving motor is arranged at one end of the spiral rod 73. A plurality of support blocks 72 distributed in a circular array are arranged on one side of the spiral rod box 71.

[0043] A half gear 74 is rotatably mounted inside the support block 72 , and the half gear 74 cooperates with the spiral rod 73 . A support frame 75 is provided on the outer surface of the half gear 74 , a rubber pad 77 is provided on one side of the support frame 75 , and a convex strip is provided on the surface of the rubber pad 77 .

[0044] It should be noted that the support rod 3 drives the movement of the screw rod box 71, and the screw rod box 71 drives the support frame 75 to move into the inside of the yarn bobbin 9 through the support block 72 and the semi-gear 74. Then, the driving motor drives the screw rod 73 to rotate, and the screw rod 73 drives the semi-gear 74 to rotate inside the support block 72. The rotation of the semi-gear 74 drives the support frame 75 to rotate, and the support frame 75 drives the rubber pad 77 to abut against the inner wall of the yarn bobbin 9. The angle at which multiple support frames 75 are simultaneously expanded is adjusted according to the inner diameter of the inner wall of the yarn bobbin 9, so as to fix and carry the yarn bobbin 9 with different inner diameter sizes. The provided yarn unloading assembly 7 is made of rubber and has good elasticity, and the outer surface of the yarn bobbin 9 can be clamped and moved by the opening and closing of the support frame 75.

[0045] Among them, the meshing transmission between the screw rod 73 and the semi-gear 74 realizes the radial synchronous expansion of the support frame 75. Through the precise matching of the lead of the screw rod 73 and the number of teeth of the semi-gear 74, the opening and closing angle of the support frame is continuously adjustable, adapting to yarn bobbins with different inner diameters. The transmission of the semi-gear 74 ensures the synchronous movement of multiple support frames 75.

[0046] Among them, the screw rod box 71 drives the support block 72 and the semi-gear 74 to move, and the driving motor drives the screw rod 73 to rotate, so as to adjust the angle of the support frame 75 to adapt to the yarn bobbin 9 with different inner diameters, enabling the device to flexibly handle various specifications of yarn bobbins 9. Moreover, the support frame 75 is equipped with a rubber pad 77. When the support frame 75 is unfolded and abuts against the inner wall of the yarn bobbin 9, the rubber pad provides additional friction, ensuring the stability of the yarn bobbin 9 during handling.

[0047] Embodiment Five: This embodiment provides a further technical solution for the support frame assembly 8 in the yarn handling mechanism.

[0048] The support frame assembly 8 includes a shaft rod box 81. The shaft rod box 81 is installed at one end of the support rod 3. A threaded rod 83 is arranged inside the shaft rod box 81. A plurality of mounting blocks 82 distributed in an annular array are arranged on one side of the shaft rod box 81. A semi-toothed disc 84 is rotatably installed inside each of the plurality of mounting blocks 82, and the semi-toothed disc 84 cooperates with the mounting block 82.

[0049] A triangular frame 85 is arranged on the outer surface of the semi-toothed disc 84. A top plate 86 is rotatably installed on one side of the triangular frame 85. An airbag pad 88 is arranged at the included angle between the top plate 86 and the triangular frame 85. Side plates 87 are arranged on both sides of the airbag pad 88. A hinge 89 is arranged between the top plate 86 and the triangular frame 85 to realize the rotatable connection between the two.

[0050] It should be noted that the support rod 3 pushes the shaft rod box 81 to move, and the shaft rod box 81 pushes the tripod 85 to move into the inner wall of the yarn bobbin 9 through the mounting block 82 and the semi-toothed disc 84. During the process of fixing and transporting the yarn bobbin 9, the rotation of the threaded rod 83 drives the semi-toothed disc 84 to rotate inside the mounting block 82, and the semi-toothed disc 84 drives the tripod 85 to open and close. The tripod 85 drives the top plate 86 to abut against the inner wall of the yarn bobbin 9. After the airbag pad 88 between the top plate 86 and the tripod 85 is squeezed by the tripod 85, it will drive the side plate 87 to flip and abut against the inner wall of the yarn bobbin 9. And the elastic force generated after the airbag pad 88 is squeezed can adaptively adjust the supporting force on the yarn bobbin 9. And through the opening and closing of the tripod 85, it can also be clamped on the outer surface of the yarn bobbin 9 for transportation.

[0051] Among them, through the compression deformation of the airbag pad 88, it automatically adapts to the irregularity of the inner wall of the yarn bobbin 9, evenly distributes the supporting force, and avoids the indentation on the barrel wall caused by rigid jigs.

[0052] Among them, the rotation of the threaded rod 83 drives the semi-toothed disc 84 to rotate, and then pushes the tripod 85 to open and close. The position of the support point can be flexibly adjusted according to the actual inner diameter size of the yarn bobbin 9 to ensure stable support for yarn bobbins 9 of various specifications. The airbag pad 88 between the top plate 86 and the tripod 85 can generate elastic force when being squeezed, automatically adjusting the supporting force on the yarn bobbin 9. It not only provides enough friction to prevent the yarn bobbin from sliding, but also avoids deformation or other damages caused by excessive extrusion.

[0053] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not used to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A truss yarn unloading robot device, comprising a truss (1), characterized in that: A rotating member (4) is provided at the bottom of the truss (1), a supporting column (2) is provided at the bottom of the rotating member (4), and a plurality of support rods (3) evenly distributed at equal intervals are arranged inside the supporting column (2). One ends of the plurality of support rods (3) are all provided with a yarn handling mechanism for cooperating with the truss (1) to clamp and unload yarn, and a yarn bobbin (9) is arranged on the outer surface of the yarn handling mechanism; The yarn handling mechanism includes a sleeve assembly (5), a support cylinder assembly (6), a yarn unloading assembly (7), and a support frame assembly (8) that adjust different handling devices according to different yarn handling requirements. The sleeve assembly (5) covers the outside of the yarn bobbin (9) for handling the yarn bobbin (9) and adjusting the dryness of the yarn surface. The support cylinder assembly (6) supports the inner wall of the yarn bobbin (9) for adjusting the angle of the yarn bobbin (9) during handling. The yarn unloading assembly (7) is used to support the yarn bobbin (9) with different inner diameters of the inner wall. The support frame assembly (8) is used to automatically adjust the support force applied to the yarn bobbin (9).

2. The truss yarn unloading robot device according to claim 1, characterized in that: The sleeve assembly (5) includes an air disc (57). The air disc (57) is installed at one end of the support rod (3). A trachea (56) is arranged on one side of the air disc (57), and one end of the trachea (56) is communicated with an atomizing trachea. A plurality of air nozzles (54) are arranged at one end of the air disc (57). A cover cylinder (53) is sleeved on the outer surface of the air disc (57). An expansion cylinder (51) is arranged at one end of the cover cylinder (53). Support ribs (52) are arranged on the inner wall of the expansion cylinder (51).

3. The truss yarn unloading robot device according to claim 2, characterized in that: A load-bearing frame (59) is arranged in the middle of one end of the air disc (57). A support plate (50) is arranged on one side of the load-bearing frame (59), and an installation groove (511) is opened inside the support plate (50).

4. The truss yarn unloading robot device according to claim 3, characterized in that: A ventilation pipe (58) is arranged in the middle of one end of the air disc (57). A guide air pipe (513) is connected inside the ventilation pipe (58). One end of the guide air pipe (513) is connected with an air impact ring (55). A plurality of frosted protrusions (512) are arranged on the outer surface of the air impact ring (55), and the frosted protrusions (512) are installed inside the installation groove (511). The air impact ring (55) and the support plate (50) are both in contact with the inner wall of the yarn bobbin (9).

5. The truss yarn unloading robot device according to claim 1, characterized in that: The support cylinder assembly (6) includes a mounting shaft (61). The mounting shaft (61) is installed at one end of the support rod (3). A shaft rod (65) is arranged inside the mounting shaft (61). A support frame (63) is rotatably installed on the outer surface of the shaft rod (65). Arc plates (62) are arranged on both sides of the support frame (63). Two electric push rods (64) are rotatably installed on one side of the support frame (63), and the two electric push rods (64) are both arranged inside the mounting shaft (61).

6. The truss yarn unloading robot device according to claim 5, wherein: Anti-slip patterns are formed on the surface of the arc plate (62), and the arc plate (62) is in contact with the inner wall of the yarn bobbin (9).

7. The truss yarn unloading robot device according to claim 1, wherein: The yarn unloading component (7) includes a screw rod box (71), the screw rod box (71) is installed at one end of the support rod (3), a screw rod (73) is arranged inside the screw rod box (71), a driving motor is arranged at one end of the screw rod (73), and a plurality of support blocks (72) distributed in an annular array are arranged on one side of the screw rod box (71).

8. The truss yarn unloading robot device according to claim 7, characterized in that: A half gear (74) is rotatably installed inside the support block (72), and the half gear (74) cooperates with the screw rod (73). A support frame (75) is arranged on the outer surface of the half gear (74), a rubber pad (77) is arranged on one side of the support frame (75), and convex strips are arranged on the surface of the rubber pad (77).

9. The truss yarn unloading robot device according to claim 1, characterized in that: The support frame component (8) includes a shaft rod box (81), the shaft rod box (81) is installed at one end of the support rod (3), a threaded rod (83) is arranged inside the shaft rod box (81), a plurality of mounting blocks (82) distributed in an annular array are arranged on one side of the shaft rod box (81), and a half tooth disc (84) is rotatably installed inside each of the plurality of mounting blocks (82), and the half tooth disc (84) cooperates with the mounting block (82).

10. The truss yarn unloading robot device according to claim 9, characterized in that: A triangular frame (85) is arranged on the outer surface of the half tooth disc (84), a top plate (86) is rotatably installed on one side of the triangular frame (85), an airbag pad (88) is arranged at the included angle between the top plate (86) and the triangular frame (85), side plates (87) are arranged on both sides of the airbag pad (88), and a hinge (89) is arranged between the top plate (86) and the triangular frame (85).

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