Automatic sleeve switching device

Abstract

The present invention provides a sleeve automatic switching device, which relates to the field of sleeve switching. The device includes a main frame, a first layer plate, a second layer plate and a third layer plate, and the three layers are all provided with through holes that penetrate from top to bottom; the first layer plate is horizontally movably installed on the upper part of the main frame, the first driver is transmission-connected to the first layer plate, and the clamping piece of the first layer plate has a clamping edge protruding from the inner side of the through hole; the main frame is also equipped with a lifting seat, a vertical driver and a second driver, the vertical driver is transmission-connected to the lifting seat, the second layer plate is horizontally movably installed on the lifting seat, and the second driver is connected between the lifting seat and the second layer plate; the through hole of the second layer plate has a large circular hole and a small circular hole that are connected, the large circular hole is used to cooperate with the sleeve clearance, and the small circular hole is used to cooperate with the disassembly sliding sleeve stop; the third layer plate is vertically movably installed on the lower side of the second layer plate, the third driver is transmission-connected to the third layer plate, and the through hole of the third layer plate is provided with a positioning sleeve for cooperating with the sleeve rotation stop.

Description

Technical Field

[0001] The invention relates to the technical field of sleeve switching, and in particular to an automatic sleeve switching device. Background Art

[0002] In engine manufacturing, automatic tightening robots are usually used with corresponding sockets to tighten the bolts that install the engine. Due to the different sizes and types of bolts, it is necessary to switch sockets during production, but manual switching of sockets is inefficient.

[0003] For example, the Chinese invention patent application with application publication number CN110919341A and application publication date 2020.03.27 discloses an automatic switching tightening sleeve mechanism, which specifically includes a tightening shaft mounting seat, a clamping seat fixedly mounted on the tightening shaft mounting seat, a cylinder rod fixedly mounted on the clamping seat, an annular rod groove is provided at the lower end of the cylinder rod, wherein the cross section of the rod groove is an inclined groove surface, and a plurality of steel balls are installed in the rod groove; a sliding steel is slidably connected to the outer side of the cylinder rod, and an inclined groove surface is provided at the lower inner end of the sliding steel, wherein the rod groove is located on the inner side of the sliding steel; an annular clamping groove is provided at the upper end of the tightening head assembly. When in use, the sliding steel is slid upwards, and when the inclined groove surface of the sliding steel moves to the steel ball, the steel ball will roll outward along the circumference of the inclined groove due to gravity, and the cylinder rod will leave and detach from the tightening head assembly; otherwise, the tightening head assembly and the cylinder are fixed together.

[0004] In the prior art, the automatic switching tightening sleeve mechanism is provided with a sliding steel between the tightening head assembly and the cylinder rod, and quick-bend joints are respectively provided at the upper and lower ends of the sliding steel. The tightening head assembly and the tightening shaft can be connected and loosened through the quick-bend joints for ventilation and deflation. However, the removed original assembly must be placed in a designated placement before the new assembly can be replaced. Other mechanisms or manual assistance are required, and the purpose of completely automatically switching the sleeve cannot be achieved. The degree of automation of the device is low. Summary of the invention

[0005] In order to solve the above problems, the purpose of the present invention is to provide an automatic sleeve switching device to solve the problem that the existing sleeve switching mechanism requires other mechanisms or manual assistance, cannot achieve the purpose of complete automatic switching of the sleeve, and has a low degree of automation.

[0006] The technical solution of the sleeve automatic switching device of the present invention is:

[0007] The sleeve automatic switching device comprises a main frame, and a first layer plate, a second layer plate and a third layer plate which are arranged on the main frame from top to bottom, and the first layer plate, the second layer plate and the third layer plate are all provided with through holes which penetrate from top to bottom;

[0008] The first layer plate is horizontally movably mounted on the upper part of the main frame, and the main frame is also provided with a first driver, which is transmission-connected with the first layer plate, and a stopper is fixed on the first layer plate, and the stopper has a stopper edge protruding from the inner side of the through hole;

[0009] The main frame is also equipped with a lifting seat, a vertical drive and a second drive, the vertical drive is connected to the lifting seat in a transmission manner, the second layer plate is installed on the lifting seat for horizontal movement, and the second drive is connected between the lifting seat and the second layer plate;

[0010] The perforation of the second layer plate comprises a large circular hole and a small circular hole, the large circular hole is connected to the small circular hole, the center line of the large circular hole and the small circular hole is parallel to the horizontal moving direction of the second layer plate, the large circular hole is used to cooperate with the sleeve clearance, and the small circular hole is used to cooperate with the disassembly sleeve stopper;

[0011] The third layer plate is installed vertically on the lower side of the second layer plate, the main frame is also installed with a third driver, the third driver is transmission-connected with the third layer plate, and the through-hole of the third layer plate is provided with a positioning sleeve for cooperating with the sleeve to stop rotation.

[0012] Furthermore, the through-holes of the first layer are elongated holes, the length direction of the elongated holes is arranged parallel to the horizontal movement direction of the first layer, and the clamping edge of the clamping piece is an arc-shaped clamping edge, which is used for clamping and cooperating with the sleeve joint.

[0013] Furthermore, the locking piece is arranged at one end of the through hole of the first layer plate, the small circular hole and the locking piece are arranged correspondingly up and down, and the connecting port between the small circular hole and the large circular hole is used to cooperate with the clearance of the small diameter section of the disassembly sleeve.

[0014] Furthermore, a cylindrical through hole is provided in the middle of the positioning sleeve, and four flanges are fixed on the inner side of the cylindrical through hole, and the four flanges are circumferentially spaced apart with respect to the inner wall of the cylindrical through hole; a conical ring edge is also provided on the upper edge of the cylindrical through hole, and the conical ring edge is used to cooperate with the sleeve guide.

[0015] Furthermore, a torque sensor is fixed on the lower side of the third layer plate, and the torque sensor is used to detect the torque generated by the sleeve acting on the positioning sleeve. The torque sensor is electrically connected to a controller, and the controller is used to receive the torque signal detected by the torque sensor and control the manipulator to stop the screwing action when the torque reaches a set value.

[0016] Furthermore, the main frame includes a vertical plate, a first horizontal guide mechanism is installed on the front side of the vertical plate, and the first layer plate is connected to the first horizontal guide mechanism;

[0017] The first driver is installed on the back side of the vertical plate, a first transmission member is installed between the first driver and the first layer plate, and a first avoidance hole is opened on the upper part of the vertical plate.

[0018] Furthermore, a vertical guide mechanism is also provided on the front side of the vertical plate, and the lifting seat is connected to the vertical guide mechanism;

[0019] The vertical driver is installed on the back side of the vertical plate, a second transmission member is arranged between the vertical driver and the lifting seat, and a second avoidance hole is opened in the middle of the vertical plate.

[0020] Furthermore, the lifting seat is a lifting plate, which is arranged parallel to the vertical plate and spaced apart from each other, a second horizontal guide mechanism is installed on the upper part of the lifting plate, the second layer plate is connected to the second horizontal guide mechanism, the second driver is installed on the back side of the lifting plate, and the second driver is located in the first avoidance hole.

[0021] Furthermore, the vertical guide mechanism is also connected to a lifting bracket, the upper end of the lifting bracket is fixedly connected to the third layer board, the third driver is arranged at the lower part of the vertical board, and the third driver is connected to the lower end of the lifting bracket.

[0022] Furthermore, a first stroke sensor is installed on the main frame, and the first stroke sensor is used to detect the horizontal position of the first layer board;

[0023] A second stroke sensor is installed on the main frame, and the second stroke sensor is used to detect the vertical position of the lifting seat; a third stroke sensor is installed on the lifting seat, and the third stroke sensor is used to detect the horizontal position of the second layer board;

[0024] A fourth stroke sensor is installed on the main frame, and the fourth stroke sensor is used to detect the vertical position of the lifting bracket; the first stroke sensor, the second stroke sensor, the third stroke sensor and the fourth stroke sensor are electrically connected to the controller respectively.

[0025] Beneficial effects: The automatic switching device for the sleeve adopts a design form of a main frame, a first layer plate, a second layer plate, a third layer plate, a first drive, a lifting seat, a vertical drive, a second drive and a third drive. The first layer plate, the second layer plate and the third layer plate are arranged on the main frame from top to bottom; wherein, the three layers are all provided with through holes that pass through from top to bottom, the through holes of the first layer plate are fixed with a locking piece, the through holes of the second layer plate are designed with large circular holes and small circular holes, and positioning sleeves are provided at the through holes of the third layer plate, and the three layers are driven by corresponding driving mechanisms to move horizontally and / or vertically, thereby achieving the purpose of disassembling and installing the sleeve.

[0026] Since a sleeve joint is installed at the lower end of the manipulator, the sleeve is connected to the sleeve joint through a disassembly sleeve. When removing the sleeve, first, the manipulator moves the sleeve to the top of the switching device, moves it downward and inserts it into the through holes of the three layer boards. While inserting, the manipulator drives the sleeve joint and the sleeve to rotate until the sleeve forms a non-rotating fit with the positioning sleeve of the third layer board, and then the third layer board moves upward to ensure that the sleeve is fully inserted into the positioning sleeve.

[0027] Then, the first and second plates move horizontally, the sleeve joint is clamped by the clamping piece, and the small diameter section of the disassembly sleeve is switched from the large circular hole to the small circular hole. Then, the second plate moves upward to push the disassembly sleeve to unlock it, and the third plate moves downward to reset and receive the separated sleeve. Finally, the first and second plates move horizontally in opposite directions to reset, the clamping piece and the sleeve joint are unlocked, and the disassembly sleeve is in the large circular hole. The manipulator moves upward to drive the sleeve joint and the disassembly sleeve to exit the switching device.

[0028] When replacing a new sleeve, first, the manipulator moves the sleeve joint and the disassembly sleeve to the top of the switching device, moves downward and inserts them into the perforations of the first and second plates. While inserting, the manipulator drives the sleeve joint to rotate until the sleeve joint and the sleeve form a non-rotating fit, indicating that the rotation angles of the two are accurately docked. Then, the first and second plates move horizontally, the sleeve joint is clamped by the clamping piece, and the small diameter section of the disassembly sleeve is switched from the large circular hole to the small circular hole; then the second plate moves upward to push the disassembly sleeve to unlock it, and the third plate moves upward to clamp the sleeve on the sleeve joint; the second and third plates move downward to reset in turn, and the sleeve and the sleeve joint are assembled into a whole.

[0029] Finally, the first and second layers move horizontally in opposite directions to reset, the locking piece and the sleeve joint are unlocked, and the disassembly sleeve is placed in the large circular hole, and the manipulator moves upward to drive the sleeve joint and the replaced sleeve out of the switching device. When using the switching device, no other mechanism or manual assistance is required. By using the horizontal and / or vertical movement of the three layers, the purpose of completely automatically switching the sleeve can be achieved, and the device has a higher degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a three-dimensional schematic diagram of the automatic sleeve switching device in a specific embodiment of the automatic sleeve switching device of the present invention;

[0031] Figure 2 It is a three-dimensional schematic diagram of the automatic sleeve switching device (omitting the first layer plate) in a specific embodiment of the automatic sleeve switching device of the present invention;

[0032] Figure 3 It is a partial enlarged view of the automatic sleeve switching device (omitting the first and second layers) in a specific embodiment of the automatic sleeve switching device of the present invention;

[0033] Figure 4 It is a structural schematic diagram of the back side of the main frame in a specific embodiment of the sleeve automatic switching device of the present invention;

[0034] Figure 5 It is a three-dimensional schematic diagram of the automatic sleeve switching device (without the main frame) in a specific embodiment of the automatic sleeve switching device of the present invention;

[0035] Figure 6 for Figure 5 Schematic side view of the middle sleeve automatic switching device (main frame omitted).

[0036] In the figure: 1 - first layer plate, 10 - perforation of the first layer plate, 11 - first driver, 12 - stopper, 13 - first horizontal guide mechanism;

[0037] 2-second layer plate, 20-perforation of the second layer plate, 201-large circular hole, 202-small circular hole, 21-lifting seat, 22-vertical drive, 23-second drive, 24-vertical guide mechanism, 25-second horizontal guide mechanism;

[0038] 3 - third layer plate, 30 - perforation of the third layer plate, 31 - third driver, 32 - positioning sleeve, 321 - flange, 322 - conical ring edge, 33 - torque sensor, 34 - lifting bracket;

[0039] 4-main frame, 41-first avoidance hole, 42-second avoidance hole, 401-first stroke sensor, 402-second stroke sensor, 403-third stroke sensor, 404-fourth stroke sensor;

[0040] 5-sleeve joint, 6-disassembly sleeve, 7-sleeve, 8-locking joint. DETAILED DESCRIPTION

[0041] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0042] A specific embodiment 1 of the sleeve automatic switching device of the present invention is as follows Figures 1 to 6 As shown, the sleeve automatic switching device includes a main frame 4, and a first layer plate 1, a second layer plate 2 and a third layer plate 3 arranged on the main frame 4 from top to bottom, and the first layer plate 1, the second layer plate 2 and the third layer plate 3 are all provided with through holes that pass through from top to bottom; the first layer plate 1 is horizontally movably installed on the upper part of the main frame 4, and the main frame 4 is also provided with a first driver 11, which is transmission-connected with the first layer plate 1, and a clamping member 12 is fixed on the first layer plate 1, and the clamping member 12 has a clamping edge protruding from the inner side of the through hole.

[0043] The main frame 4 is also equipped with a lifting seat 21, a vertical driver 22 and a second driver 23. The vertical driver 22 is connected to the lifting seat 21 in a transmission manner. The second layer plate 2 is installed on the lifting seat 21 for horizontal movement. The second driver 23 is connected between the lifting seat 21 and the second layer plate 2. The through hole 20 of the second layer plate has a large circular hole 201 and a small circular hole 202. The large circular hole 201 is connected to the small circular hole 202. The center line of the large circular hole 201 and the small circular hole 202 is parallel to the horizontal movement direction of the second layer plate 2. The large circular hole 201 is used to match the clearance with the sleeve 7, and the small circular hole 202 is used to match the stop with the disassembly sleeve 6.

[0044] The third layer plate 3 is installed vertically on the lower side of the second layer plate 2 for movement. The main frame 4 is also installed with a third driver 31, which is transmission-connected to the third layer plate 3. A positioning sleeve 32 for anti-rotation cooperation with the sleeve 7 is provided at the through hole 30 of the third layer plate.

[0045] The sleeve automatic switching device adopts a design form of a main frame 4, a first layer plate 1, a second layer plate 2, a third layer plate 3, a first driver 11, a lifting seat 21, a vertical driver 22, a second driver 23 and a third driver 31. The first layer plate 1, the second layer plate 2 and the third layer plate 3 are arranged on the main frame 4 from top to bottom; wherein, the three layers are all provided with through holes that pass through from top to bottom, the through hole 10 of the first layer plate is fixed with a locking piece 12, the through hole 20 of the second layer plate is designed with a large circular hole 201 and a small circular hole 202, and a positioning sleeve 32 is provided at the through hole 30 of the third layer plate, and the three layers are driven by corresponding driving mechanisms to move horizontally and / or vertically, thereby achieving the purpose of disassembling and installing the sleeve 7.

[0046] Since the sleeve joint 5 is installed at the lower end of the manipulator, the sleeve 7 is connected to the sleeve joint 5 by disassembling the sliding sleeve 6. When disassembling the sleeve 7, first, the manipulator moves the sleeve 7 to the top of the switching device, moves it downward and inserts it into the through holes of the three layer boards. While inserting, the manipulator drives the sleeve joint 5 and the sleeve 7 to rotate until the sleeve 7 forms a rotation-stopping fit with the positioning sleeve 32 of the third layer board 3, and then the third layer board 3 moves upward to ensure that the sleeve 7 is fully inserted into the positioning sleeve 32.

[0047] Then, the first layer plate 1 and the second layer plate 2 move horizontally, and the sleeve joint 5 is clamped by the clamping member 12, and the small diameter section of the disassembly sleeve 6 is switched from the large circular hole 201 to the small circular hole 202. Then, the second layer plate 2 moves upward to push the disassembly sleeve 6 to unlock it, and the third layer plate 3 moves downward to reset and receive the separated sleeve 7. Finally, the first layer plate 1 and the second layer plate 2 move horizontally in the opposite direction to reset, the clamping member 12 is unlocked from the sleeve joint 5, and the disassembly sleeve 6 is in the large circular hole 201, and the manipulator moves upward to drive the sleeve joint 5 and the disassembly sleeve 6 to exit the switching device.

[0048] When replacing a new sleeve 7, first, the manipulator moves the sleeve joint 5 and the disassembly sleeve 6 to the top of the switching device, moves downward and inserts them into the through holes of the first layer 1 and the second layer 2. While inserting, the manipulator drives the sleeve joint 5 to rotate until the sleeve joint 5 and the sleeve 7 form a non-rotating fit, indicating that the rotation angles of the two are accurately docked. Then, the first layer 1 and the second layer 2 move horizontally, and the sleeve joint 5 is clamped by the clamping member 12, and the small diameter section of the disassembly sleeve 6 is switched from the large circular hole 201 to the small circular hole 202; then the second layer 2 moves upward to push the disassembly sleeve 6 to unlock it, and the third layer 3 moves upward to clamp the sleeve 7 on the sleeve joint 5; the second layer 2 and the third layer 3 move downward to reset in turn, and the sleeve 7 and the sleeve joint 5 are assembled into a whole.

[0049] Finally, the first layer 1 and the second layer 2 move horizontally in opposite directions to reset, the locking piece 12 unlocks the sleeve joint 5, and the disassembly sleeve 6 is placed in the large circular hole 201, and the manipulator moves upward to drive the sleeve joint 5 and the replaced sleeve 7 out of the switching device. When using the switching device, no other mechanism or manual assistance is required, and the purpose of completely automatically switching the sleeve can be achieved by using the horizontal and / or vertical movement of the three layers, and the device has a higher degree of automation.

[0050] In this embodiment, the through hole 10 of the first layer plate is an elongated hole, the length direction of the elongated hole is arranged parallel to the horizontal movement direction of the first layer plate 1, and the clamping edge of the clamping member 12 is an arc-shaped clamping edge, which is used to clamp and cooperate with the sleeve joint 5. Correspondingly, an annular clamping groove is arranged on the sleeve joint 5, and the annular clamping groove cooperates with the arc-shaped clamping edge of the clamping member 12. The axial position of the sleeve joint 5 can be accurately limited by the clamping member 12, so as to avoid the sleeve joint 5 from moving when the sliding sleeve 6 is disassembled by pushing and the sleeve 7 is clamped.

[0051] As a further preferred solution, the stopper 12 is arranged at one end of the through hole 10 of the first layer plate, the small circular hole 202 and the stopper 12 are arranged correspondingly up and down, and the connecting port between the small circular hole 202 and the large circular hole 201 is used to match the clearance of the small diameter section of the disassembly sleeve 6. Specifically, the stopper 12 is located at the left end of the through hole 10 of the first layer plate, and the small circular hole 202 is located on the left side of the large circular hole 201. When in use, the through hole 10 of the first layer plate is directly opposite to the large circular hole 201, ensuring that the sleeve joint 5 can be smoothly inserted into the through hole; after insertion, the first layer plate 1 and the second layer plate 2 move horizontally to the right, and the small diameter section of the disassembly sleeve 6 passes through the connecting port from the large circular hole 201 to the small circular hole 202, so as to implement the subsequent push disassembly action.

[0052] In addition, a cylindrical through hole is provided in the middle of the positioning sleeve 32. Figure 3 As shown, four flanges 321 are fixed on the inner side of the cylindrical through hole, and the four flanges 321 are circumferentially spaced with respect to the inner wall of the cylindrical through hole; a conical ring edge 322 is also provided on the upper edge of the cylindrical through hole, and the conical ring edge 322 is used for guiding and matching with the sleeve 7. Correspondingly, a stop joint 8 is provided on the upper end of the sleeve 7, and the stop joint 8 is matched with the positioning sleeve 32 in a concave-convex manner. The outer periphery of the stop joint 8 has four positioning surfaces. When the stop joint 8 enters the positioning sleeve 32, the four positioning surfaces of the stop joint 8 are respectively located on the inner side of the corresponding flanges 321, thereby forming a stop fit between the sleeve 7 and the positioning sleeve 32.

[0053] In this embodiment, a torque sensor 33 is also fixed to the lower side of the third layer plate 3. The torque sensor 33 is used to detect the torque generated by the sleeve 7 acting on the positioning sleeve 32. The torque sensor 33 is electrically connected to a controller (not shown in the figure). The controller is used to receive the torque signal detected by the torque sensor 33 and control the manipulator to stop the screwing action when the torque reaches a set value. By using the torque sensor 33 to detect the torque in real time, it is possible to determine whether the sleeve 7 is inserted into the positioning sleeve 32 when the sleeve 7 is removed, and to determine whether the sleeve joint 5 is accurately docked with the sleeve 7 when a new sleeve 7 is replaced, thereby controlling the manipulator to accurately generate a driving action.

[0054] The main frame 4 includes a vertical plate, a first horizontal guide mechanism 13 is installed on the front side of the vertical plate, and the first layer plate 1 is connected to the first horizontal guide mechanism 13; the first driver 11 is installed on the back side of the vertical plate, a first transmission member is installed between the first driver 11 and the first layer plate 1, and a first avoidance hole 41 is opened on the upper part of the vertical plate. Specifically, the first horizontal guide mechanism 13 is a guide rail slider mechanism, the first driver 11 is a screw motor, the horizontal guide rail of the first horizontal guide mechanism 13 is fixed to the front side of the vertical plate, the slider is slidably matched with the horizontal guide rail, and the first layer plate 1 is fixedly connected to the slider.

[0055] In addition, a vertical guide mechanism 24 is also provided on the front side of the vertical plate, and the lifting seat 21 is connected to the vertical guide mechanism 24; the vertical driver 22 is installed on the back side of the vertical plate, and a second transmission member is installed between the vertical driver 22 and the lifting seat 21, and a second avoidance hole 42 is opened in the middle of the vertical plate. The lifting seat 21 is a lifting plate, which is arranged parallel to the vertical plate and spaced apart, and a second horizontal guide mechanism 25 is installed on the upper part of the lifting plate, and the second layer plate 2 is connected to the second horizontal guide mechanism 25, and the second driver 23 is installed on the back side of the lifting plate, and the second driver 23 is in the first avoidance hole. Correspondingly, the vertical guide mechanism 24 and the second horizontal guide mechanism 25 are both guide rail slider mechanisms, and the vertical driver 22 and the second driver 23 are both screw motors.

[0056] The vertical plate is provided with a first avoidance hole 41 and a second avoidance hole 42, so that the first driver 11, the vertical driver 22 and the second driver 23 can be hidden on the back side of the vertical plate, and the first transmission member and the second transmission member pass through the avoidance holes to achieve the purpose of driving the first layer 1 and the second layer 2 to move. The vertical guide mechanism 24 is also connected to a lifting bracket 34, the upper end of which is fixedly connected to the third layer 3, and the third driver 31 is provided at the lower part of the vertical plate, and the third driver 31 is connected to the lower end of the lifting bracket 34. Accordingly, the third driver 31 is a screw motor.

[0057] In addition, a first stroke sensor 401 is installed on the main frame 4, and the first stroke sensor 401 is used to detect the horizontal position of the first layer board 1; a second stroke sensor 402 is installed on the main frame 4, and the second stroke sensor 402 is used to detect the vertical position of the lifting seat 21; a third stroke sensor 403 is installed on the lifting seat 21, and the third stroke sensor 403 is used to detect the horizontal position of the second layer board 2; a fourth stroke sensor 404 is installed on the main frame 4, and the fourth stroke sensor 404 is used to detect the vertical position of the lifting bracket 34; the first stroke sensor 401, the second stroke sensor 402, the third stroke sensor 403 and the fourth stroke sensor 404 are electrically connected to the controller respectively.

[0058] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A sleeve automatic switching device, characterized in that: It comprises a main frame, and a first layer plate, a second layer plate and a third layer plate which are arranged on the main frame from top to bottom, wherein the first layer plate, the second layer plate and the third layer plate are all provided with through holes which penetrate from top to bottom; The first layer plate is horizontally movably mounted on the upper part of the main frame, and the main frame is also provided with a first driver, which is transmission-connected with the first layer plate, and a stopper is fixed on the first layer plate, and the stopper has a stopper edge protruding from the inner side of the through hole; The main frame is also equipped with a lifting seat, a vertical drive and a second drive, the vertical drive is connected to the lifting seat in a transmission manner, the second layer plate is installed on the lifting seat for horizontal movement, and the second drive is connected between the lifting seat and the second layer plate; The perforation of the second layer plate comprises a large circular hole and a small circular hole, the large circular hole is connected to the small circular hole, the center line of the large circular hole and the small circular hole is parallel to the horizontal moving direction of the second layer plate, the large circular hole is used to cooperate with the sleeve clearance, and the small circular hole is used to cooperate with the disassembly sleeve stopper; The third layer plate is installed vertically on the lower side of the second layer plate, the main frame is also installed with a third driver, the third driver is transmission-connected with the third layer plate, and the through-hole of the third layer plate is provided with a positioning sleeve for cooperating with the sleeve to stop rotation.

2. The sleeve automatic switching device according to claim 1 is characterized in that: The through hole of the first layer plate is an elongated hole, the length direction of the elongated hole is arranged parallel to the horizontal movement direction of the first layer plate, and the clamping edge of the clamping piece is an arc-shaped clamping edge, which is used for clamping and cooperating with the sleeve joint.

3. The sleeve automatic switching device according to claim 2 is characterized in that: The locking piece is arranged at one end of the through hole of the first layer plate, the small circular hole and the locking piece are arranged correspondingly up and down, and the connecting port between the small circular hole and the large circular hole is used for gap matching with the small diameter section of the disassembly sleeve.

4. The sleeve automatic switching device according to claim 1 is characterized in that: A cylindrical through hole is provided in the middle of the positioning sleeve, and four flanges are fixed on the inner side of the cylindrical through hole. The four flanges are circumferentially spaced apart with respect to the inner wall of the cylindrical through hole; a conical ring edge is also provided on the upper edge of the cylindrical through hole, and the conical ring edge is used to cooperate with the sleeve guide.

5. The sleeve automatic switching device according to claim 4 is characterized in that: A torque sensor is also fixed on the lower side of the third layer plate, and the torque sensor is used to detect the torque generated by the sleeve acting on the positioning sleeve. The torque sensor is electrically connected to a controller, and the controller is used to receive the torque signal detected by the torque sensor and control the manipulator to stop the screwing action when the torque reaches a set value.

6. The sleeve automatic switching device according to claim 1 is characterized in that: The main frame comprises a vertical plate, a first horizontal guide mechanism is installed on the front side of the vertical plate, and the first layer plate is connected to the first horizontal guide mechanism; The first driver is installed on the back side of the vertical plate, a first transmission member is installed between the first driver and the first layer plate, and a first avoidance hole is opened on the upper part of the vertical plate.

7. The sleeve automatic switching device according to claim 6 is characterized in that: A vertical guide mechanism is also provided on the front side of the vertical plate, and the lifting seat is connected to the vertical guide mechanism; The vertical driver is installed on the back side of the vertical plate, a second transmission member is arranged between the vertical driver and the lifting seat, and a second avoidance hole is opened in the middle of the vertical plate.

8. The sleeve automatic switching device according to claim 7 is characterized in that: The lifting seat is a lifting plate, which is arranged parallel to and spaced from the vertical plate. A second horizontal guide mechanism is installed on the upper part of the lifting plate, the second layer plate is connected to the second horizontal guide mechanism, the second driver is installed on the back side of the lifting plate, and the second driver is located in the first avoidance hole.

9. The sleeve automatic switching device according to claim 7 is characterized in that: The vertical guide mechanism is also connected to a lifting bracket, the upper end of the lifting bracket is fixedly connected to the third layer board, the third driver is arranged at the lower part of the vertical plate, and the third driver is connected to the lower end of the lifting bracket.

10. The sleeve automatic switching device according to claim 9, characterized in that: A first stroke sensor is installed on the main frame, and the first stroke sensor is used to detect the horizontal position of the first layer board; A second stroke sensor is installed on the main frame, and the second stroke sensor is used to detect the vertical position of the lifting seat; a third stroke sensor is installed on the lifting seat, and the third stroke sensor is used to detect the horizontal position of the second layer board; A fourth stroke sensor is installed on the main frame, and the fourth stroke sensor is used to detect the vertical position of the lifting bracket; the first stroke sensor, the second stroke sensor, the third stroke sensor and the fourth stroke sensor are electrically connected to the controller respectively.

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