Truss type automatic carrying manipulator for yarn packages

Abstract

The utility model relates to the technical field of manipulators, in particular to a truss type yarn package automatic carrying manipulator which comprises a main frame body. The portal frame is vertically and slidably connected to the inner wall of the main frame body, and inverted-L-shaped sliding seats are symmetrically and reversely arranged at the bottom of the portal frame; the first arm is in threaded connection with the bottom of the inverted L-shaped sliding seat; and the second arm is vertically and slidably connected to the inner wall of the rotating seat on the surface of the inverted L-shaped sliding seat. Therefore, by means of automatic driving positioning, accurate grabbing and angle adjusting structures and combination of intelligent sensing and fault protection design, the feeding device can replace manual work to achieve automatic feeding of ring bobbins in batches, greatly improve efficiency and adapt to the high-speed running rhythm of a winding machine, the feeding accuracy and compatibility of ring bobbins of different specifications can be guaranteed, and the feeding efficiency of the ring bobbins of different specifications can be improved. The labor intensity of workers and the operation risk are reduced, meanwhile, equipment abrasion is reduced, action conflicts are avoided, the service life is prolonged, and intelligent and stable upgrading of subsequent procedures of spinning is promoted.

Description

Technical Field

[0001] This utility model relates to the technical field of robotic arms, and in particular to a truss-type automatic handling robotic arm for yarn winding. Background Technology

[0002] In the downstream processes of the textile industry, the winding machine is a key piece of equipment for converting yarn from a fine yarn tube to a packaged yarn. Through tension control, yarn clearing and other processes, the spun yarn is unwound from the fine yarn tube and rewound into a packaged yarn with larger capacity and better shape, providing high-quality raw materials for subsequent weaving, knitting and other processes.

[0003] However, the current yarn bobbin feeding process of winding machines mainly relies on manual operation. Workers need to place the yarn bobbins one by one onto the vertical and inclined shaft seats of the winding machine. This manual feeding method has significant drawbacks: on the one hand, the work efficiency is low and it is difficult to match the high-speed operation rhythm of the winding machine, which restricts the capacity improvement of the entire textile production line; on the other hand, the frequent repetitive actions lead to high labor intensity for workers, which can easily cause fatigue, and the consistency of manual operation is difficult to guarantee, which may affect the quality stability of subsequent yarn processing.

[0004] To solve the above problems, there is an urgent need for an automated device to replace manual labor in the handling and loading of yarn tubes. Utility Model Content

[0005] This utility model aims to at least partially solve one of the technical problems in the related art.

[0006] Therefore, the purpose of this utility model is to propose a truss-type automatic yarn package handling robot. This utility model, through automated drive positioning, precise gripping and angle adjustment structure, combined with intelligent sensing and fault protection design, can not only replace manual labor to realize batch automated feeding of yarn tubes, greatly improve efficiency and adapt to the high-speed operation rhythm of winding machines, but also ensure the accuracy and compatibility of feeding yarn tubes of different specifications, reduce the labor intensity and operational risks of workers, reduce equipment wear, avoid motion conflicts, extend service life, and promote the intelligent and stable upgrading of textile downstream processes.

[0007] To achieve the above objectives, this utility model proposes a truss-type automatic yarn package handling robot, comprising:

[0008] Main frame: Sleeved on the outside of the machine frame, driven by the lead screw translation mechanism at the top of the machine frame;

[0009] Portal frame: It is vertically slidably connected to the inner wall of the main frame body and driven by a hydraulic telescopic cylinder at the top of the main frame body. The bottom of the portal frame is symmetrically and oppositely provided with inverted L-shaped sliding seats, which are vertically slidably connected to the inner wall of the main frame body.

[0010] First arm: threadedly connected to the bottom of the inverted L-shaped slide, and its surface is threadedly connected to a first air expansion shaft;

[0011] The second arm is vertically slidably connected to the inner wall of the rotating seat on the surface of the inverted L-shaped slide block, and is driven by a co-drive mechanism provided on the inner wall of the rotating seat. The second arm extends through the bottom of the rotating seat and is threadedly connected to a second air shaft.

[0012] In addition, the truss-type yarn package automatic handling robot proposed in the above application may also have the following additional technical features:

[0013] Specifically, the lead screw translation mechanism includes a rail frame, a threaded lead screw, and a drive motor, wherein,

[0014] The rail frame is fixedly connected to the top of the frame, the main frame is horizontally slidably connected to the inner wall of the rail frame and threadedly connected to the outer surface of the threaded screw, and the drive motor is fixedly connected to the surface of the rail frame and fixedly connected to one end of the threaded screw.

[0015] Specifically, the co-drive mechanism includes a drive gear and a synchronization plate frame, wherein,

[0016] The drive gear is fixedly connected to the inner wall of the rotating seat. One end of the central shaft of the drive gear passes through the interior of the inverted L-shaped slide and is rotatably connected to the inner wall of the inverted L-shaped slide. A worm gear is provided on the surface of the end of the central shaft of the drive gear located inside the inverted L-shaped slide, and it meshes with the worm wheel rotatably connected to the inner wall of the inverted L-shaped slide. A drive rack is horizontally slidably connected to one side of the top of the drive gear, and a spring is fixedly connected between the drive rack and the drive gear. The drive rack meshes with the drive gear. A tapered groove is opened on the surface of the drive rack, and a tapered rod is vertically slidably connected to the inner wall of the tapered groove. A shaft is fixedly connected to the top of the tapered rod, and one end of the shaft passes through the top of the rotating seat and is located outside the vertical part of the rotating seat.

[0017] The synchronization plate frame is vertically slidably connected to the inner wall of the vertical part of the rotating seat. The synchronization plate frame is driven by a pneumatic telescopic rod set on the inner wall of the vertical part. The shaft and the end of the second arm that pass through the top of the rotating seat are respectively threaded to the bottom of both ends of the synchronization plate frame.

[0018] Specifically, the first air shaft and the second air shaft correspond to the positions of the vertical shaft seat and the inclined shaft seat on the frame, respectively. The first air shaft, the second air shaft, and the pneumatic telescopic rod are all connected to an external air source through air supply pipes. Each air supply pipe is equipped with a solenoid valve. The solenoid valve, the drive motor, and the hydraulic telescopic cylinder are all connected to the controller on the frame through wires to realize data transmission and control command reception.

[0019] Specifically, the inverted L-shaped slide surface is provided with positioning holes corresponding to the position of the rotating seat. There are two sets of positioning holes. The inner walls of both sets of positioning holes are threaded with limit shafts. Pressure sensors are provided on the side of the limit shaft facing the rotating seat. The pressure sensors are connected to the controller on the frame through wires to realize data transmission and control command reception.

[0020] Specifically, damping oil bearings are provided at the connection between the central shaft of the drive gear and the inner wall of the inverted L-shaped slide, and at the connection between the central shaft of the worm gear and the inner wall of the inverted L-shaped slide, and a sealing cap is provided at the end of each damping oil bearing.

[0021] Specifically, both the first and second air shafts are provided with elastic buffer sleeves on their surfaces. The elastic buffer sleeves are made of silicone and have annular anti-slip textures.

[0022] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

[0023] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0024] 1. Improve feeding efficiency and automation level: Replace manual feeding one by one, realize automated and batch handling of fine yarn tubes, adapt to the high-speed operation rhythm of winding machine, solve the problem of low efficiency of manual feeding, and promote the intelligent upgrading of textile downstream processes.

[0025] 2. Ensure accurate and compatible feeding: The multi-dimensional drive mechanism combines visual recognition, laser ranging and pressure sensing technology to ensure accurate positioning of the yarn tube in the horizontal, vertical and angular directions; the graded inflation shaft, detachable first arm, second arm, first inflation shaft and second inflation shaft are compatible with yarn tubes of different specifications, improving the equipment's versatility;

[0026] 3. Reduce labor intensity and operational risks: Reduce repetitive actions for workers, significantly reducing labor intensity; automated operation avoids the problem of poor consistency in manual operation, reduces damage to yarn bobbins and feeding deviations, and ensures stable quality of subsequent yarn processing;

[0027] 4. Equipment stability and service life: Damping oil bearings reduce wear on transmission components, sealing covers prevent dust intrusion, and guide sliders, linear guide rail pairs, and buffer limit blocks reduce motion sway and rigid impacts; a comprehensive fault protection mechanism avoids equipment idling or action conflicts, extending the overall service life of the equipment. Attached Figure Description

[0028] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, in which:

[0029] Figure 1 This is a schematic diagram of the structure of a truss-type automatic handling robot for yarn winding according to the present invention;

[0030] Figure 2 This is a schematic diagram of the lead screw translation mechanism in a truss-type yarn roll automatic handling robot of the present invention;

[0031] Figure 3 This is a schematic diagram of the inverted L-shaped slide structure of a truss-type yarn roll automatic handling robot of the present invention;

[0032] Figure 4 This is a schematic diagram of the co-drive mechanism in a truss-type yarn roll automatic handling robot of this utility model.

[0033] As shown in the figure:

[0034] 1. Main frame; 2. Machine frame; 20. Vertical shaft seat; 30. Slanted shaft seat;

[0035] 3. Lead screw translation mechanism; 31. Rail frame; 32. Lead screw; 33. Drive motor;

[0036] 4. Gantry frame; 5. Hydraulic telescopic cylinder; 6. Inverted L-shaped slide; 610. Limit shaft; 620. Pressure sensor;

[0037] 7. First arm; 71. First air shaft; 72. Rotary seat; 73. Co-drive mechanism; 731. Drive gear; 732. Worm gear; 733. Worm wheel; 734. Drive rack; 735. Spring; 736. Tapered groove; 737. Tapered rod frame; 738. Shaft; 739. Synchronizing plate frame; 7310. Pneumatic telescopic rod;

[0038] 8. Second arm; 81. Second air expansion axis;

[0039] 100. Controller; 200. Damping oil bearing; 300. Vision recognition module; 400. Laser rangefinder sensor. Detailed Implementation

[0040] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model. Rather, the embodiments of this utility model include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0041] The following description, in conjunction with the accompanying drawings, describes a truss-type automatic yarn winding and handling robot according to an embodiment of the present invention.

[0042] like Figures 1-4 As shown in the figure, a truss-type automatic yarn winding and handling robot according to an embodiment of the present invention includes:

[0043] Main frame 1: Sleeved on the outside of frame 2, driven by screw translation mechanism 3 at the top of frame 2;

[0044] Portal frame 4: It is vertically slidably connected to the inner wall of the main frame 1 and driven by the hydraulic telescopic cylinder 5 at the top of the main frame 1. The bottom of the portal frame 4 is symmetrically and oppositely provided with inverted L-shaped slide blocks 6, which are vertically slidably connected to the inner wall of the main frame 1.

[0045] First arm 7: threaded connection to the bottom of the inverted L-shaped slide 6, and its surface is threaded with a first air expansion shaft 71;

[0046] The second arm 8 is vertically slidably connected to the inner wall of the rotating seat 72 on the surface of the inverted L-shaped slide 6, and is driven by the co-drive mechanism 73 set on the inner wall of the rotating seat 72. The second arm 8 extends through the bottom of the rotating seat 72 and is threadedly connected to the second air shaft 81.

[0047] It should be noted that the bottom of the inverted L-shaped slide 6 and the rotating seat 72 described in this embodiment are both equipped with a visual recognition module 300 and a laser rangefinder 400. The visual recognition module 300 and the laser rangefinder 400 are connected to the controller 100 through wires to realize data transmission and control command reception. The visual recognition module 300 is used to identify the stacking position of the yarn tube, and the laser rangefinder 400 is used to detect the alignment distance between the first air shaft 71 and the vertical shaft seat 20 and the second air shaft 81 and the inclined shaft seat 30. The controller 100 adjusts the translation and lifting parameters in real time to avoid material jamming caused by alignment deviation.

[0048] Specifically, this utility model, through its automated drive positioning, precise gripping and angle adjustment structure, combined with intelligent sensing and fault protection design, can not only replace manual labor to achieve automated batch feeding of fine yarn tubes, greatly improving efficiency and adapting to the high-speed operation rhythm of winding machines, but also ensure the accuracy and compatibility of feeding fine yarn tubes of different specifications, reducing the labor intensity and operational risks of workers, while reducing equipment wear, avoiding action conflicts, extending service life, and promoting the intelligent and stable upgrading of textile downstream processes.

[0049] Its specific working principle is as follows:

[0050] 1. Overall drive and positioning: The controller 100 communicates with the main control system of the winding machine through the industrial bus, obtains the idle status of the vertical shaft seat 20 and the inclined shaft seat 30 in real time, issues the on-demand feeding command, drives the drive motor 33 to drive the threaded screw 32 to rotate, so that the main frame 1 moves horizontally along the rail frame 31, the hydraulic telescopic cylinder 5 drives the gantry frame 4 and the inverted L-shaped slide 6 to rise and fall vertically, and with the help of the vision recognition module 300 to identify the stacking position of the yarn tubes and the laser range sensor 400 to detect the alignment distance, the robot arm can be accurately positioned in the horizontal and vertical directions.

[0051] 2. Fine yarn tube gripping: The first air shaft 71 and the second air shaft 81 are connected to an external air source through air supply pipes. The controller 100 is linked to the solenoid valve to realize graded inflation, which can adapt to fine yarn tubes of different diameters. The silicone elastic buffer sleeve and the annular anti-slip texture on the surface of the air shaft ensure that there is no squeezing damage and no slippage during gripping.

[0052] 3. Angle Adjustment and Precise Placement: For feeding the inclined shaft seat 30, the pneumatic telescopic rod 7310 drives the synchronous plate frame 739 to rise and fall, causing the shaft 738 and the second arm 8 to move synchronously; the shaft 738 drives the tapered rod frame 737 to slide in the tapered groove 736, pushing the drive rack 734 to move horizontally, and through gear meshing, drives the drive gear 731 and the rotating seat 72 to rotate. Combined with the feedback from the pressure sensor 620 on the limit shaft 610, the second air expansion shaft 81 is precisely positioned to match the tilt angle of the inclined shaft seat 30; after reaching the target position, the solenoid valve controls the air expansion shaft to release air, completing the placement of the yarn tube on the vertical shaft seat 20 or the inclined shaft seat 30.

[0053] 4. Fault protection and stable operation: The damping oil bearing 200 is installed at the connection between the central shaft of the drive gear 731 and the worm gear 733 and the inverted L-shaped slide 6. It works with the end sealing cover to prevent flying debris and dust from entering, ensuring stable transmission. When the pressure sensor 620 detects that the limit shaft 610 is subjected to force exceeding the threshold or the air pressure of the air expansion shaft is lower than the set value, the controller 100 immediately triggers a stop command, prompts the fault through its built-in audible and visual alarm and records the location.

[0054] In one embodiment of this utility model, such as Figures 1-4 As shown, the lead screw translation mechanism 3 includes a rail frame 31, a lead screw 32, and a drive motor 33, wherein,

[0055] The rail frame 31 is fixedly connected to the top of the frame 2. The main frame 1 is horizontally slidably connected to the inner wall of the rail frame 31 and threadedly connected to the outer surface of the threaded rod 32. The drive motor 33 is fixedly connected to the surface of the rail frame 31 and fixedly connected to one end of the threaded rod 32.

[0056] It should be noted that the sliding connection between the rail frame 31 and the main frame 1 described in this embodiment is provided with a guide slider and a linear guide rail pair. The inner walls at both ends of the rail frame 31 are provided with buffer limit blocks made of polyurethane material. The above devices work together to reduce the shaking of the main frame 1 when it moves horizontally and avoid rigid impact when starting and stopping.

[0057] Specifically, the structure and connection relationship of the lead screw translation mechanism 3 will be further explained.

[0058] In one embodiment of this utility model, such as Figures 1-4 As shown, the synchronous drive mechanism 73 includes a drive gear 731 and a synchronization plate frame 739, wherein,

[0059] The drive gear 731 is fixedly connected to the inner wall of the rotating seat 72. One end of the central shaft of the drive gear 731 passes through the interior of the inverted L-shaped slide 6 and is rotatably connected to the inner wall of the inverted L-shaped slide 6. A worm gear 732 is provided on the surface of the end of the central shaft of the drive gear 731 located inside the inverted L-shaped slide 6, and meshes with the worm wheel 733 rotatably connected to the inner wall of the inverted L-shaped slide 6. A drive rack 734 is horizontally slidably connected to one side of the top of the drive gear 731, and a spring 735 is fixedly connected between the drive rack 734 and the drive gear 731. A tapered groove 736 is opened on the surface of the drive rack 734, and a tapered rod 737 is vertically slidably connected to the inner wall of the tapered groove 736. A shaft 738 is fixedly connected to the top of the tapered rod 737. One end of the shaft 738 passes through the top of the rotating seat 72 and is located outside the vertical part of the rotating seat 72.

[0060] The synchronization plate frame 739 is vertically slidably connected to the inner wall of the vertical part of the rotating seat 72. The synchronization plate frame 739 is driven by the pneumatic telescopic rod 7310 set on the inner wall of the vertical part. The shaft 738 and the second arm 8 pass through one end of the top of the rotating seat 72 and are respectively threaded to the bottom of both ends of the synchronization plate frame 739.

[0061] Specifically, the structure and connection relationship of the co-drive mechanism 73 will be further explained.

[0062] In one embodiment of this utility model, such as Figures 1-4 As shown, the first air shaft 71 and the second air shaft 81 correspond to the positions of the vertical shaft seat 20 and the inclined shaft seat 30 on the frame 2, respectively. The first air shaft 71, the second air shaft 81 and the pneumatic telescopic rod 7310 are all connected to an external air source through air supply pipes. Each air supply pipe is equipped with a solenoid valve. The solenoid valve, the drive motor 33 and the hydraulic telescopic cylinder 5 are all connected to the controller 100 on the frame 2 through wires to realize data transmission and control command reception.

[0063] It should be noted that the first air shaft 71 and the second air shaft 81 described in this example are equipped with an air volume adjustment mechanism, which realizes graded air inflation through the controller 100 and the solenoid valve, adapting to fine yarn tubes of different diameters.

[0064] It should also be noted that the pneumatic telescopic rod 7310 connected to the synchronous plate frame 739 described in this embodiment is equipped with a stroke adjustment function, and the air intake is controlled by a solenoid valve to adapt to the different lifting height requirements of the second arm 8.

[0065] Specifically, the connection relationship between the first air shaft 71, the second air shaft 81, and the pneumatic telescopic rod 7310 will be further explained.

[0066] In one embodiment of this utility model, such as Figures 1-4 As shown, positioning holes are provided on the surface of the inverted L-shaped slide 6 at positions corresponding to the rotary seat 72. There are two sets of positioning holes. The inner walls of both sets of positioning holes are threaded with limit shafts 610. Pressure sensors 620 are provided on the side of the limit shafts 610 facing the rotary seat 72. The pressure sensors 620 are connected to the controller 100 on the frame 2 through wires to realize data transmission and control command reception.

[0067] It should be noted that the controller 100 described in this embodiment communicates with the main control system of the winding machine through an industrial bus to obtain the idle status of the winding machine's shaft seat in real time, so as to realize on-demand feeding and avoid the robot arm running idle or conflicting with the winding machine's actions.

[0068] Specifically, when the rotating seat 72 rotates to a set angle, the limit shaft 610 is subjected to pressure, and the pressure sensor 620 transmits a signal to the controller 100. The controller 100 then controls the rotating seat 72 to stop rotating, thus ensuring positioning accuracy.

[0069] It should be added that the first air shaft 71 and the second air shaft 81 are also equipped with pressure sensors 620. When the pressure sensor 620 detects that the force on the limit shaft 610 exceeds the threshold or the air pressure of the air shaft is lower than the set value, the controller 100 immediately triggers a stop command and prompts the fault through its built-in audible and visual alarm, while recording the fault location for quick troubleshooting.

[0070] In one embodiment of this utility model, such as Figures 1-4 As shown, damping oil bearings 200 are provided at the connection between the central shaft of the drive gear 731 and the inner wall of the inverted L-shaped slide 6, and at the connection between the central shaft of the worm gear 733 and the inner wall of the inverted L-shaped slide 6. A sealing cap is provided at the end of each damping oil bearing 200.

[0071] Specifically, the damping oil bearing 200 uses the viscous resistance of the internal damping oil to prevent the shaft from rotating without drive, ensuring accurate positioning of the second air shaft 81 angle, reducing friction and wear between the shaft and the bearing, buffering transmission vibration, and making the meshing transmission more stable and effective. The sealing cover design effectively prevents fly shavings and dust from the textile workshop from entering the bearing and affecting the damping effect, ensuring the stability and smoothness of the transmission.

[0072] In one embodiment of this utility model, such as Figures 1-4 As shown, the surfaces of the first air shaft 71 and the second air shaft 81 are both provided with elastic buffer sleeves. The elastic buffer sleeves are made of silicone and have annular anti-slip textures.

[0073] Specifically, the elastic cushioning sleeve is made of silicone and has annular anti-slip texture to reduce the squeezing damage of the air shaft to the yarn tube and prevent the yarn tube from slipping during transportation.

[0074] In summary, this utility model provides a truss-type automatic yarn package handling robot. Through automated drive positioning, precise gripping and angle adjustment structure, combined with intelligent sensing and fault protection design, this utility model can not only replace manual labor to achieve batch automated feeding of yarn bobbins, greatly improving efficiency and adapting to the high-speed operation rhythm of winding machines, but also ensure the accuracy and compatibility of feeding yarn bobbins of different specifications, reduce the labor intensity and operational risks of workers, reduce equipment wear, avoid motion conflicts, extend service life, and promote the intelligent and stable upgrading of textile downstream processes.

[0075] In the description of this specification, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0076] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0077] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A truss-type automatic handling robot for yarn package, characterized in that, include: Main frame (1): Sleeved on the outside of the frame (2), driven by the lead screw translation mechanism (3) at the top of the frame (2); Portal frame (4): It is vertically slidably connected to the inner wall of the main frame (1) and driven by the hydraulic telescopic cylinder (5) at the top of the main frame (1). The bottom of the portal frame (4) is symmetrically and oppositely provided with inverted L-shaped slide blocks (6), which are vertically slidably connected to the inner wall of the main frame (1). First arm (7): threaded connection to the bottom of the inverted L-shaped slide (6), and its surface is threaded with a first air shaft (71). The second arm (8) is vertically slidably connected to the inner wall of the rotating seat (72) on the surface of the inverted L-shaped slide (6), and is driven by the same drive mechanism (73) provided on the inner wall of the rotating seat (72). The second arm (8) has a second air shaft (81) threadedly connected to one end surface that extends through the bottom of the rotating seat (72).

2. The truss-type automatic yarn package handling robot according to claim 1, characterized in that, The lead screw translation mechanism (3) includes a rail frame (31), a threaded lead screw (32), and a drive motor (33), wherein, The rail frame (31) is fixedly connected to the top of the frame (2). The main frame (1) is horizontally slidably connected to the inner wall of the rail frame (31) and threadedly connected to the outer surface of the threaded rod (32). The drive motor (33) is fixedly connected to the surface of the rail frame (31) and fixedly connected to one end of the threaded rod (32).

3. The truss-type automatic yarn package handling robot according to claim 1, characterized in that, The co-drive mechanism (73) includes a drive gear (731) and a synchronization plate frame (739), wherein, The drive gear (731) is fixedly connected to the inner wall of the rotating seat (72). One end of the central shaft of the drive gear (731) extends into the interior of the inverted L-shaped slide (6) and is rotatably connected to the inner wall of the inverted L-shaped slide (6). A worm gear (732) is provided on the surface of the end of the drive gear (731) located inside the inverted L-shaped slide (6), and meshes with the worm wheel (733) rotatably connected to the inner wall of the inverted L-shaped slide (6). A drive rack is horizontally slidably connected to one side of the top of the drive gear (731). (734), and a spring (735) is fixedly connected between the drive rack (734) and the inner wall of the rotating seat (72). The drive rack (734) meshes with the drive gear (731). A tapered groove (736) is opened on the surface of the drive rack (734), and a tapered rod frame (737) is vertically slidably connected to the inner wall of the tapered groove (736). A shaft (738) is fixedly connected to the top of the tapered rod frame (737). One end of the shaft (738) passes through the top of the rotating seat (72) and is located outside the vertical part of the rotating seat (72). The synchronous plate frame (739) is vertically slidably connected to the inner wall of the vertical part of the rotating seat (72). The synchronous plate frame (739) is driven by a pneumatic telescopic rod (7310) set on the inner wall of the vertical part. The shaft (738) and the second arm (8) pass through one end of the top of the rotating seat (72) and are respectively threaded to the bottom of both ends of the synchronous plate frame (739).

4. The truss-type automatic yarn package handling robot according to claim 2, characterized in that, The first air shaft (71) and the second air shaft (81) correspond to the vertical shaft seat (20) and the inclined shaft seat (30) on the frame (2), respectively. The first air shaft (71), the second air shaft (81) and the pneumatic telescopic rod (7310) are all connected to an external air source through air supply pipes. Each air supply pipe is equipped with a solenoid valve. The solenoid valve, the drive motor (33) and the hydraulic telescopic cylinder (5) are all connected to the controller (100) on the frame (2) through wires to realize data transmission and control command reception.

5. The truss-type automatic yarn package handling robot according to claim 1, characterized in that, The inverted L-shaped slide (6) has a positioning hole corresponding to the position of the rotating seat (72). There are two sets of positioning holes. The inner walls of both sets of positioning holes are threaded with limit shafts (610). The side surface of the limit shaft (610) facing the rotating seat (72) is provided with pressure sensors (620). The pressure sensors (620) are connected to the controller (100) on the frame (2) through wires to realize data transmission and control command reception.

6. The truss-type automatic yarn package handling robot according to claim 3, characterized in that, Damping oil bearings (200) are provided at the connection between the central shaft of the drive gear (731) and the inner wall of the inverted L-shaped slide (6) and at the connection between the central shaft of the worm gear (733) and the inner wall of the inverted L-shaped slide (6). The ends of the damping oil bearings (200) are provided with sealing caps.

7. The truss-type automatic yarn package handling robot according to claim 1, characterized in that, Both the first air shaft (71) and the second air shaft (81) are provided with elastic buffer sleeves. The elastic buffer sleeves are made of silicone and have annular anti-slip textures.

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