The invention discloses a three-dimensional robot for yarn pulling, relates to equipment for replacing a bobbin on a ring spinning frame, and aims to provide the three-dimensional robot for yarn pulling, which is high in yarn pulling efficiency and difficultly damages the equipment. The robot comprises an X-axis robot rod arm, Y-axis robot rod arms and a Z-axis robot rod arm, wherein the two ends of each of two Y-axis robot rod arms are fixedly connected to the top of a doffing trolley respectively; Y-axis sliding blocks which can slide along the two Y-axis robot rod arms are arranged on the two Y-axis robot rod arms; the two ends of the X-axis robot rod arm are fixedly connected to the two Y-axis sliding blocks respectively; an X-axis sliding block which can slide along the X-axis robot rod arm is arranged on the X-axis robot rod arm and is fixedly connected with a Z-axis sliding block; the Z-axis robot rod arm is vertically arranged and is matched with the Z-axis sliding block, so that the Z-axis sliding block can vertically slide relative to the Z-axis robot rod arm; one end of the Z-axis robot rod arm is fixedly connected with a beam of a pipe pulling mechanism; and servo motors for driving the X-axis sliding block, the Y-axis sliding blocks and the Z-axis robot rod arm to move are arranged on the three-dimensional robot.