A truss yarn unloading robot device

Abstract

The present invention discloses a truss yarn unloading robot device, which relates to the field of yarn unloading technology, including a truss, a shaft rotating part is provided at the bottom of the truss, a support column is provided at the bottom of the shaft rotating part, a plurality of support rods distributed at equal intervals are provided inside the support column, a yarn handling mechanism for cooperating with the truss to clamp and unload the yarn is provided at one end of the plurality of support rods, and a yarn bobbin is provided on the outer surface of the yarn handling mechanism. The present invention fills air into the interior of the air ring through a vent and an air guide tube, so that the air ring expands and fits tightly to the inner wall of the yarn bobbin, which not only provides stable support and prevents the yarn bobbin from shaking or tilting during transportation, but also avoids damage that may be caused by traditional rigid support. The frosted protrusions are fitted with the inner wall of the yarn bobbin when the air ring expands, which increases additional friction and further enhances stability during transportation.

Description

Technical Field

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

[0002] The truss yarn unloading robot is an automated equipment specially designed for the textile industry. It is designed to handle yarn bobbins efficiently and safely, 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 a cheese yarn automatic loading and unloading machine, which includes a base, a lifting bracket and a flip bracket. The above-mentioned cheese yarn automatic loading and unloading machine realizes the loading and unloading operations on one device. It not only has a compact structure, ingenious design, and occupies little space, but also improves production efficiency, saves manpower, and reduces production costs.

[0004] If the support is unstable during the transportation of the yarn bobbin, it is easy to cause sliding or falling, which will cause production interruption or safety accidents. The above-mentioned internal support structure is not only difficult to adapt to yarn bobbins with different inner diameter specifications and has poor versatility, but also has obvious deficiencies in clamping the outer wall for transportation, supporting force control, humidity adjustment and static electricity elimination, which affects the transportation safety and yarn quality. Therefore, this application provides a truss yarn unloading robot equipment to meet the needs. Summary of the Invention

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

[0006] To achieve the above-mentioned object, the present application provides the following technical solution: a truss yarn unloading robot device, comprising a truss, a shaft rotating member provided at the bottom of the truss, a support column provided at the bottom of the shaft rotating member, a plurality of support rods distributed at equal intervals provided inside the support column, a yarn handling mechanism for cooperating with the truss to clamp and unload the yarn at one end, and a yarn bobbin provided on the outer surface of the yarn handling mechanism;

[0007] The yarn handling mechanism includes a sleeve assembly, a support assembly, a yarn unloading assembly, and a support frame assembly for adjusting different handling equipment according to different yarn handling requirements. The sleeve assembly cover is arranged on the outside of the yarn tube for carrying the yarn tube and adjusting the dryness of the yarn surface. The support assembly is supported on the inner wall of the yarn tube for adjusting the angle of the yarn tube during transportation. The yarn unloading assembly is used to support yarn tubes with inner walls of different diameters. The support frame assembly is used to automatically adjust the supporting force applied to the yarn tube.

[0008] Among them, the sleeve assembly includes an air disc, which is installed at one end of the support rod, an air pipe is provided on one side of the air disc, and one end of the air pipe is connected to the atomizing air pipe, and a plurality of ventilation nozzles are provided at one end of the air disc. The outer surface of the air disc is provided with a cover tube, and an expansion tube is provided at one end of the cover tube, and the inner wall of the expansion tube is provided with support ribs.

[0009] A load-bearing frame is provided in the middle of one end of the gas disc, a support plate is provided on one side of the load-bearing frame, and a mounting groove is provided inside the support plate.

[0010] Among them, a ventilation pipe is provided in the middle of one end of the air disc, the interior of the ventilation pipe is connected to an air guide pipe, one end of the air guide pipe is connected to an air ring, the outer surface of the air ring is provided with a plurality of frosted protrusions, and the frosted protrusions are installed inside the mounting groove, and the air ring and the support plate are in contact with the inner wall of the yarn tube.

[0011] Among them, the support cylinder assembly includes a mounting shaft, which is installed at one end of the support rod, and a shaft is arranged inside the mounting shaft. A support frame is rotatably installed on the outer surface of the shaft, and arc plates are arranged on both sides of the support frame. Two electric push rods are rotatably installed on one side of the support frame, and the two electric push rods are both arranged inside the mounting shaft.

[0012] Wherein, the surface of the arc plate is provided with anti-slip grooves, and the arc plate is in contact with the inner wall of the yarn tube.

[0013] Among them, the yarn unloading assembly includes a spiral rod box, which is installed at one end of the support rod. A spiral rod is arranged inside the spiral rod box, and a driving motor is arranged at one end of the spiral rod. One side of the spiral rod box is provided with several support blocks distributed in a circular array.

[0014] Among them, a half gear is rotatably installed inside the support block, and the half gear cooperates with the spiral rod. A support frame is provided on the outer surface of the half gear, a rubber pad is provided on one side of the support frame, and a convex strip is provided on the surface of the rubber pad.

[0015] Among them, the support bracket assembly includes an axle rod box, which is installed at one end of the support rod. A threaded rod is provided inside the axle rod box. Several mounting blocks distributed in a circular array are provided on one side of the axle rod box. Half-toothed discs are rotatably installed inside several of the mounting blocks, and the half-toothed discs cooperate with the mounting blocks.

[0016] Among them, the outer surface of the half gear disc is provided with a tripod, a top plate is rotatably installed on one side of the tripod, an airbag cushion is provided at the angle between the top plate and the tripod, and side panels are provided on both sides of the airbag cushion, and a hinge is provided between the top plate and the tripod.

[0017] In summary, the technical effects and advantages of the present invention are as follows:

[0018] 1. The present invention fills air into the air ring through the ventilation tube and the air guide tube, so that the air ring expands and fits tightly to the inner wall of the yarn tube, which not only provides stable support and prevents the yarn tube from shaking or tilting during transportation, but also avoids the damage that may be caused by traditional rigid supports. The frosted protrusions are in contact with the inner wall of the yarn tube when the air ring expands, which increases additional friction and further enhances the stability during transportation. The atomized gas ejected through the air tube is evenly sprayed onto the surface of the yarn tube through the ventilation nozzle inside the air disc, and the cover tube and the expansion tube guide the atomized gas to spread, covering the entire surface of the yarn tube, and adjusting the yarn tube. Humidity, to prevent the yarn from regaining moisture or over-drying due to environmental changes. The atomized gas can not only adjust the humidity, but also contain anti-static ingredients, which can effectively neutralize the static charge on the surface of the yarn, reduce the impact of static electricity on the yarn, and prevent the yarn from being entangled or absorbing dust. The cover tube and the expansion tube cover are installed outside the yarn tube to form a relatively closed small environment, which can better protect the yarn from external dust, moisture and other adverse factors, ensure the cleanliness and quality of the yarn, especially in the real-time adjustment of the humidity of the yarn tube and the elimination of static electricity during the transportation process, which can significantly improve the quality stability of the yarn and create good conditions for the subsequent weaving process.

[0019] 2. The present invention drives the support frame to rotate around the shaft through an electric push rod, driving the arc plate to tilt upward, so that the yarn bobbin is "lifted" and restricted on the arc plate during transportation, forming a self-locking support structure, effectively preventing it from falling. By controlling the support frame to drive the arc plate to tilt downward, the yarn bobbin can be automatically unloaded and slide out naturally, which significantly improves the convenience and automation level of yarn unloading. After the arc plate penetrates into the interior of the yarn bobbin, the angle of the support frame can be adjusted to adapt to yarn bobbins of different heights or diameters, thereby improving the compatibility of the equipment with yarn bobbins of various specifications.

[0020] 3. The present invention uses a spiral rod box to drive the support block and half gear to move, and the drive motor drives the spiral rod to rotate, so as to adjust the angle of the support frame to adapt to yarn tubes with different inner diameters, so that the equipment can flexibly cope with yarn tubes of various specifications. In addition, the support frame is equipped with a rubber pad. When the support frame is unfolded and contacts the inner wall of the yarn tube, the rubber pad provides additional friction, ensuring the stability of the yarn tube during transportation.

[0021] 4. The present invention drives the semi-toothed disc to rotate by rotating the threaded rod, thereby pushing the tripod to open and close. The position of the support point can be flexibly adjusted according to the actual inner diameter of the yarn bobbin, ensuring that stable support can be provided for yarn bobbins of various specifications. The airbag cushion between the plate and the tripod can generate elastic force when squeezed, and automatically adjust the support strength for the yarn bobbin, which not only provides sufficient friction to prevent the yarn bobbin from sliding, but also avoids deformation or other damage caused by excessive squeezing. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0023] Figure 1 This is a schematic diagram of the three-dimensional structure of the truss yarn unloading robot equipment;

[0024] Figure 2 Schematic diagram of the three-dimensional structure of the sleeve assembly;

[0025] Figure 3 It is a schematic diagram of the three-dimensional connection structure of the support cylinder assembly;

[0026] Figure 4 It is a schematic diagram of the three-dimensional connection structure of the sleeve assembly and the support rod;

[0027] Figure 5 Schematic diagram of the three-dimensional connection structure of the sleeve assembly;

[0028] Figure 6 It is a schematic diagram of the partial three-dimensional connection structure of the sleeve assembly;

[0029] Figure 7 A sectional view of the three-dimensional connection structure of the sleeve assembly from a first perspective;

[0030] Figure 8 A sectional view of the three-dimensional connection structure of the sleeve assembly from a second perspective;

[0031] Figure 9 It is a schematic diagram of the three-dimensional connection structure of the load-bearing frame and the gas disc;

[0032] Figure 10 It is a schematic diagram of the three-dimensional connection structure of the vent pipe and the air ring;

[0033] Figure 11 Schematic diagram of the three-dimensional connection structure of the air ring;

[0034] Figure 12 It is a schematic diagram of the three-dimensional connection structure of the support cylinder assembly;

[0035] Figure 13 It is a cross-sectional view of the three-dimensional connection structure of the support tube assembly;

[0036] Figure 14 It is a schematic diagram of the three-dimensional connection structure of the yarn unloading component;

[0037] Figure 15 It is a schematic diagram of the partial three-dimensional connection structure of the yarn unloading component;

[0038] Figure 16 Schematic diagram of the three-dimensional connection structure of the support frame assembly;

[0039] Figure 17 A schematic diagram of a partial first-person perspective three-dimensional connection structure of a support assembly;

[0040] Figure 18 It is a schematic diagram of the partial second-view three-dimensional connection structure of the support assembly;

[0041] Figure 19 Schematic diagram of the three-dimensional connection structure of the airbag cushion and the top plate.

[0042] In the figure: 1, truss; 2, support column; 3, support rod; 4, shaft rotating member; 5, sleeve assembly; 50, support plate; 51, expansion tube; 52, support rib; 53, cover tube; 54, vent nozzle; 55, air ring; 56, air pipe; 57, air plate; 58, air pipe; 59, load-bearing frame; 511, mounting groove; 512, frosted protrusion; 513, air guide tube; 6, support tube assembly; 61, mounting shaft; 62, arc plate; 63. Support frame; 64. Electric push rod; 65. Shaft; 7. Yarn unloading assembly; 71. Screw rod box; 72. Support block; 73. Screw rod; 74. Half gear; 75. Support frame; 77. Rubber pad; 8. Support frame assembly; 81. Shaft rod box; 82. Mounting block; 83. Threaded rod; 84. Half gear disc; 85. Tripod; 86. Top plate; 87. Side plate; 88. Airbag cushion; 89. Hinge; 9. Yarn bobbin. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] Example 1, Reference Figures 1 to 19The truss yarn unloading robot device shown in the figure includes a truss 1, a shaft rotating member 4 is provided at the bottom of the truss 1, a support column 2 is provided at the bottom of the shaft rotating member 4, a plurality of support rods 3 distributed at equal intervals are provided inside the support column 2, and a yarn handling mechanism for cooperating with the truss 1 to clamp and unload the yarn is provided at one end of each of the plurality of support rods 3, and a yarn bobbin 9 is provided on the outer surface of the yarn handling mechanism;

[0045] The yarn handling mechanism includes a sleeve assembly 5, a support assembly 6, a yarn unloading assembly 7, and a support frame assembly 8 for adjusting different handling equipment according to different yarn handling requirements. The sleeve assembly 5 is covered on the outside of the yarn tube 9 for carrying the yarn tube 9 and adjusting the dryness of the yarn surface. The support assembly 6 is supported on the inner wall of the yarn tube 9 for adjusting the angle of the yarn tube 9 during transportation. The yarn unloading assembly 7 is used to support yarn tubes 9 with inner walls of different diameters. The support frame assembly 8 is used to automatically adjust the supporting force applied to the yarn tube 9.

[0046] It is worth noting that the truss 1 drives the support column 2 to move and then the shaft rotating member 4 drives the support column 2 to rotate to different angles, and then the support rod 3 drives the yarn transport mechanism to move and clamp the yarn bobbin 9.

[0047] Among them, the sleeve assembly 5 adjusts the humidity to match the drying requirements of different fiber materials such as cotton, chemical fiber or blends by covering the physical isolation of the outside of the yarn tube 9, avoiding the problem of yarn regaining or brittleness caused by sudden changes in temperature and humidity during traditional transportation, and the tube support assembly 6 adopts a variable curvature support structure to adjust the inclination angle of the yarn tube 9 within the range of 0-20°, which is particularly suitable for the directional drainage process after tube dyeing of the yarn. Compared with the fixed-angle transport vehicle, the drainage time can be shortened by more than 15%, and the support frame assembly 8 can dynamically adjust the clamping force according to the weight of the yarn tube to avoid the deformation of the tube caused by overpressure of the traditional mechanical clamp.

[0048] Embodiment 2: This embodiment provides a further technical solution for the sleeve assembly 5 in the yarn transporting mechanism.

[0049] The sleeve assembly 5 includes an air disc 57, which is installed at one end of the support rod 3. An air pipe 56 is provided on one side of the air disc 57, and one end of the air pipe 56 is connected to the atomizing air pipe. A plurality of ventilation nozzles 54 are provided at one end of the air disc 57. A cover tube 53 is provided on the outer surface of the air disc 57, and an expansion tube 51 is provided at one end of the cover tube 53. The inner wall of the expansion tube 51 is provided with support ribs 52.

[0050] A load-bearing frame 59 is provided in the middle of one end of the gas disc 57 , a support plate 50 is provided on one side of the load-bearing frame 59 , and a mounting groove 511 is provided inside the support plate 50 .

[0051] A vent tube 58 is provided in the middle of one end of the air disc 57, and the interior of the vent tube 58 is connected to an air guide tube 513, and one end of the air guide tube 513 is connected to an air ring 55. The outer surface of the air ring 55 is provided with a plurality of frosted protrusions 512, and the frosted protrusions 512 are installed inside the mounting groove 511. The air ring 55 and the support plate 50 are in contact with the inner wall of the yarn tube 9.

[0052] It is worth noting that when the yarn tube 9 is transported, 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 tube 9, and then the vent pipe 58 fills air into the interior of the air ring 55 through the air guide pipe 513, and the inner wall of the yarn tube 9 is filled by the expansion of the air ring 55, and the frosted protrusion 512 is squeezed by the air ring 55 and fits with the inner wall of the yarn tube 9, and the air ring 55 is filled with gas. Figure 11 The shape shown;

[0053] While transporting the yarn bobbin 9, atomized gas is sprayed out through the air pipe 56 and out through the vent nozzle 54 inside the air disc 57, and the cover tube 53 and the expansion tube 51 are both covered on the outside of the yarn bobbin 9, so that the atomized gas is guided by the cover tube 53 and the expansion tube 51 to diffuse on the surface of the yarn bobbin 9, thereby improving the dryness of the yarn bobbin 9 and eliminating static electricity, which facilitates the subsequent steps of using the yarn bobbin 9 for weaving.

[0054] Among them, the air ring 55 is inflated through the ventilation tube 58, so that it expands and fits the inner wall of the yarn tube 9, combined with the physical contact of the frosted protrusion 512, to form a multi-point friction anchor. The elastic material of the air ring 55 is such as silicone or polyurethane, and the surface roughness of the frosted protrusion Ra≥3.2μm can increase the friction coefficient to 0.6-0.8, and the air ring 55 uniformly applies pressure in the range of 0.1-0.3MPa.

[0055] The atomizing gas delivered by the air pipe 56 is deionized water or an antistatic agent, which is formed into micron-level droplet particles with a diameter of 10-50μm through the ventilation nozzle 54 of the air disc 57 and is guided and diffused by the cover tube 53 and the expansion tube 51 to adjust the humidity of the yarn surface, solving the problem of different moisture content of the inner and outer layers of the yarn tube after traditional drying. The deionized gas injection reduces the static voltage on the yarn surface from more than 15kV to ≤0.5kV, reducing flying flowers and broken ends caused by electrostatic adsorption during the weaving process.

[0056] Among them, air is filled into the air ring 55 through the ventilation tube 58 and the air guide tube 513, so that the air ring expands and fits tightly against the inner wall of the yarn tube 9, which not only provides stable support to prevent the yarn tube from shaking or tilting during transportation, but also avoids the damage that may be caused by traditional rigid supports. The frosted protrusions 512 are fitted with the inner wall of the yarn tube 9 when the air ring 55 expands, adding additional friction and further enhancing the stability during transportation. The atomized gas ejected through the air tube 56 is evenly sprayed onto the surface of the yarn tube 9 through the ventilation nozzle 54 inside the air disc 57, and the cover tube 53 and the expansion tube 51 guide the atomized gas to spread and cover the entire yarn tube. The surface of the yarn tube adjusts the humidity of the yarn tube to prevent the yarn from regaining moisture or over-drying due to environmental changes. The atomized gas can not only adjust the humidity, but also contain anti-static components to effectively neutralize the static charge on the surface of the yarn, reduce the impact of static electricity on the yarn, and prevent the yarn from being entangled or absorbing dust. The cover tube 53 and the expansion tube 51 are arranged on the outside of the yarn tube 9 to form a relatively closed small environment, which can better protect the yarn from the influence of external dust, moisture and other adverse factors, ensure the cleanliness and quality of the yarn, especially in the real-time adjustment of the humidity of the yarn tube and the elimination of static electricity during transportation, which can significantly improve the quality stability of the yarn and create good conditions for the subsequent weaving process.

[0057] Embodiment 3: This embodiment provides a further technical solution for the support cylinder assembly 6 in the yarn transport mechanism.

[0058] The support cylinder assembly 6 includes a mounting shaft 61, which is installed at one end of the support rod 3. A shaft 65 is provided inside the mounting shaft 61, and a support frame 63 is rotatably installed on the outer surface of the shaft 65. Arc plates 62 are provided 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 provided inside the mounting shaft 61.

[0059] 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.

[0060] It is worth noting that the mounting 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 bobbin 9. In the process of transporting the yarn bobbin 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 bobbin 9, the support frame 63 should be controlled to drive the arc plate 62 to tilt upward, so as to ensure that the yarn bobbin 9 will not fall during the transport and movement. In the process of unloading the yarn bobbin 9, the support frame 63 drives the arc plate 62 to tilt downward, so as to facilitate the removal of the yarn bobbin 9 from the surface of the arc plate 62.

[0061] 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.

[0062] 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 bobbin 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 bobbin 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 bobbin 9, the angle of the support frame 63 can be adjusted to adapt to yarn bobbins 9 of different heights or diameters, thereby improving the compatibility of the equipment with yarn bobbins 9 of various specifications.

[0063] Embodiment 4: This embodiment provides a further technical solution for the yarn unloading assembly 7 in the yarn transporting mechanism.

[0064] 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 provided inside the spiral rod box 71, and a driving motor is provided at one end of the spiral rod 73. One side of the spiral rod box 71 is provided with several support blocks 72 distributed in a ring array.

[0065] A half gear 74 is rotatably mounted inside the support block 72 , and the half gear 74 cooperates with the screw rod 73 . A support frame 75 is provided on the outer surface of the half gear 74 , and 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 .

[0066] It is worth noting that the spiral rod box 71 is driven to move by the support rod 3, and the spiral rod box 71 drives the support frame 75 to move to the inside of the yarn tube 9 through the support block 72 and the half gear 74, and then the spiral rod 73 is driven to rotate by the driving motor, and the spiral rod 73 drives the half gear 74 to rotate inside the support block 72. The rotation of the half gear 74 will drive the support frame 75 to rotate, and the support frame 75 drives the rubber pad 77 to contact the inner wall of the yarn tube 9. The angles at which multiple supports 75 are opened at the same time are adjusted according to the inner wall diameter of the yarn tube 9, so that yarn tubes 9 with different inner diameters can be fixed and transported. The yarn unloading component 7 is made of rubber material with good elasticity, and the opening and closing of the support frame 75 can also realize the clamping of the outer surface of the yarn tube 9 for movement.

[0067] Among them, the meshing transmission of the spiral rod 73 and the half gear 74 realizes the radial synchronous expansion of the support frame 75. Through the precise matching of the lead of the spiral rod 73 and the number of teeth of the half gear 74, the opening and closing angle of the support frame can be continuously adjusted to adapt to yarn tubes with different inner diameters. The transmission of the half gear 74 ensures the synchronous movement of multiple supports 75.

[0068] Among them, the support block 72 and the half gear 74 are driven to move by the spiral rod box 71, and the spiral rod 73 is driven to rotate by the driving motor, so as to adjust the angle of the support frame 75 to adapt to the yarn tubes 9 of different inner diameters, so that the equipment can flexibly cope with yarn tubes 9 of various specifications, and the support frame 75 is equipped with a rubber pad 77. When the support frame 75 is unfolded and contacts the inner wall of the yarn tube 9, the rubber pad provides additional friction, ensuring the stability of the yarn tube 9 during transportation.

[0069] Embodiment 5: This embodiment provides a further technical solution for the support assembly 8 in the yarn transport mechanism.

[0070] The support frame assembly 8 includes an axle rod box 81, which is installed at one end of the support rod 3. A threaded rod 83 is provided inside the axle rod box 81. A plurality of mounting blocks 82 distributed in a circular array are provided on one side of the axle rod box 81. Half-toothed discs 84 are rotatably installed inside the plurality of mounting blocks 82, and the half-toothed discs 84 cooperate with the mounting blocks 82.

[0071] A tripod 85 is provided on the outer surface of the half gear disc 84, and a top plate 86 is rotatably mounted on one side of the tripod 85. An airbag cushion 88 is provided at the angle between the top plate 86 and the tripod 85, and side panels 87 are provided on both sides of the airbag cushion 88. A hinge 89 is provided between the top plate 86 and the tripod 85 to achieve a rotatable connection between the two.

[0072] It is worth noting that the support rod 3 pushes the shaft box 81 to move, and the shaft box 81 pushes the tripod 85 to move into the inner wall of the yarn tube 9 through the mounting block 82 and the half-toothed disc 84. In the process of fixing and transporting the yarn tube 9, the rotation of the threaded rod 83 drives the half-toothed disc 84 to rotate inside the mounting block 82, and the half-toothed disc 84 drives the tripod 85 to open and close. The tripod 85 will drive the top plate 86 to hit the inner wall of the yarn tube 9, and the airbag cushion 88 between the top plate 86 and the tripod 85 will be squeezed by the tripod 85 and will drive the side plate 87 to flip and hit the inner wall of the yarn tube 9. The elastic force of the airbag cushion 88 after being squeezed can adaptively adjust the support force of the yarn tube 9, and the opening and closing of the tripod 85 can also clamp the outer surface of the yarn tube 9 for transportation.

[0073] The airbag cushion 88 is deformed under pressure to automatically adapt to the irregularities of the inner wall of the yarn tube 9, evenly distribute the supporting force, and avoid indentations on the tube wall caused by the rigid clamp.

[0074] 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 of the yarn tube 9 to ensure that stable support can be provided for yarn tubes 9 of various specifications. The airbag cushion 88 between the top plate 86 and the tripod 85 can generate elastic force when squeezed, and automatically adjust the support force for the yarn tube 9, which not only provides sufficient friction to prevent the yarn tube from sliding, but also avoids deformation or other damage caused by excessive squeezing.

[0075] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A truss yarn unloading robot device, comprising a truss (1), characterized in that: The bottom of the truss (1) is provided with an axial rotating member (4), the bottom of the axial rotating member (4) is provided with a support column (2), the interior of the support column (2) is provided with a plurality of support rods (3) distributed at equal intervals, 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 the outer surface of the yarn handling mechanism is provided with a yarn barrel (9); The yarn handling mechanism comprises a sleeve assembly (5), a support 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) is covered on the outside of the yarn bobbin (9) and is used to carry the yarn bobbin (9) and adjust the dryness of the yarn surface. The support assembly (6) is supported on the inner wall of the yarn bobbin (9) and is used to adjust the angle of the yarn bobbin (9) when it is being carried. The yarn unloading assembly (7) is used to support yarn bobbins (9) with inner walls of different diameters. The support frame assembly (8) is used to automatically adjust the support force applied to the yarn bobbin (9). The sleeve assembly (5) includes an air disc (57), the air disc (57) is mounted on one end of the support rod (3), an air pipe (56) is provided on one side of the air disc (57), and one end of the air pipe (56) is connected to the atomizing air pipe, and one end of the air disc (57) is provided with a plurality of vent nozzles (54), the outer surface of the air disc (57) is provided with a cover tube (53), one end of the cover tube (53) is provided with an expansion tube (51), and the inner wall of the expansion tube (51) is provided with a support rib (52); A load-bearing frame (59) is provided in the middle of one end of the gas disc (57), a support plate (50) is provided on one side of the load-bearing frame (59), and a mounting groove (511) is provided inside the support plate (50); A vent pipe (58) is provided in the middle of one end of the air disc (57), an air guide pipe (513) is connected to the inside of the vent pipe (58), one end of the air guide pipe (513) is connected to an air ring (55), a plurality of frosted protrusions (512) are provided on the outer surface of the air ring (55), and the frosted protrusions (512) are installed inside the mounting groove (511), and the air ring (55) and the support plate (50) are in contact with the inner wall of the yarn bobbin (9); The support cylinder assembly (6) includes a mounting shaft (61), the mounting shaft (61) is mounted on one end of the support rod (3), a shaft (65) is provided inside the mounting shaft (61), a support frame (63) is rotatably mounted on the outer surface of the shaft (65), arc plates (62) are provided on both sides of the support frame (63), two electric push rods (64) are rotatably mounted on one side of the support frame (63), and the two electric push rods (64) are both provided inside the mounting shaft (61); The support frame assembly (8) includes a shaft box (81), the shaft box (81) is installed at one end of the support rod (3), a threaded rod (83) is provided inside the shaft box (81), and a plurality of mounting blocks (82) distributed in a ring array are provided on one side of the shaft box (81), and a half-toothed disc (84) is rotatably installed inside the plurality of mounting blocks (82), and the half-toothed disc (84) and the mounting block (82) cooperate with each other; A tripod (85) is provided on the outer surface of the half toothed disc (84), a top plate (86) is rotatably mounted on one side of the tripod (85), an airbag cushion (88) is provided at the angle between the top plate (86) and the tripod (85), and side plates (87) are provided on both sides of the airbag cushion (88).

2. A truss yarn unloading robot device according to claim 1, characterized in that: 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 bobbin (9).

3. The truss yarn unloading robot device according to claim 1, characterized in that: The yarn unloading assembly (7) comprises a spiral rod box (71), the spiral rod box (71) being mounted on one end of the support rod (3), a spiral rod (73) being provided inside the spiral rod box (71), a driving motor being provided at one end of the spiral rod (73), and a plurality of support blocks (72) distributed in a ring array being provided on one side of the spiral rod box (71).

4. The truss yarn unloading robot device according to claim 3, characterized in that: 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), and 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).

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