Robotically automated sleeve changing wrench

Abstract

The application relates to the technical field of automobile automation suspension, and discloses a robot automatic sleeve-changing wrench, which comprises a mounting bottom plate, shaft cooperation robots are fixedly installed on the top of the mounting bottom plate, four automatic sleeve-changing devices in equidistance arrangement are installed on the top of the mounting bottom plate, and automatic sleeve-changing wrench assemblies are installed on the opposite sides of the two shaft cooperation robots; the automatic sleeve-changing device comprises a fixed plate fixedly installed on the top of the mounting bottom plate, four supporting columns in rectangular uniform distribution are fixedly installed on the top of the fixed plate, and a first connecting plate is fixedly installed between the top ends of the four supporting columns. The robot automatic sleeve-changing wrench is installed on the sixth shaft of the robot by using the automatic sleeve-changing wrench, manual movement of the wrench to the rear axle suspension nut position to be adjusted is replaced, and the nut can be changed according to different models of automobiles, so that the production efficiency of the existing sleeve-changing wrench is effectively improved.

Description

TECHNICAL FIELD

[0001] The application relates to the field of automobile automation suspension technology, in particular to a robot automatic sleeve wrench. BACKGROUND

[0002] The sleeve wrench is applied to the hexagonal nut tightening and adjustment of the rear axle suspension in the automobile industry, the purpose of the adjustment is to make the vehicle walk along a straight line, and the direction is automatically returned when turning, and the adjustment is collectively called four-wheel positioning adjustment, and the sleeve wrench can also be applied to the tightening and loosening of bolts and nuts in the automation industry.

[0003] At present, in the prior art, the automobile needing four-wheel positioning adjustment is driven to the top of a pit, workers are located in the pit and wait for the arrival of the automobile, after the automobile arrives at the top of the pit, a worker needs to manually hold a wrench corresponding to the size of the nut to tighten and adjust the nut, since the working environment is relatively poor, the personal safety of the worker is at risk, and manual sleeve replacement will result in low production efficiency, and a large amount of time is needed for adjustment, therefore, the technical personnel in the field provide a robot automatic sleeve wrench. SUMMARY

[0004] (I) Technical problems solved

[0005] In view of the defects in the prior art, the application provides a robot automatic sleeve wrench, which has the advantages of effectively improving the production efficiency of the existing sleeve wrench and solves the problem of poor production efficiency of the existing sleeve wrench.

[0006] (II) Technical scheme

[0007] In order to achieve the above-mentioned purpose of effectively improving the production efficiency of the existing sleeve wrench, the application provides the following technical scheme: a robot automatic sleeve wrench, comprising a mounting bottom plate, the top of the mounting bottom plate is fixedly provided with shaft cooperation robots on the left and right sides, the top of the mounting bottom plate is provided with four automatic sleeve changing devices arranged at equal intervals, and the opposite sides of the two shaft cooperation robots are provided with automatic sleeve changing wrench assemblies.

[0008] The automatic sleeve changing device comprises a fixed plate fixedly installed on the top of the installation bottom plate, four support columns uniformly distributed in a rectangular shape are fixedly installed on the top of the fixed plate, a first connecting plate is fixedly installed between the top ends of the four support columns, a lifting air cylinder is fixedly installed on the bottom of the first connecting plate, a floating joint is fixedly connected to the piston rod of the lifting air cylinder, two guide sleeves symmetrically front and back are fixedly installed on the top of the first connecting plate, guide columns are slidably connected to the inner sides of the guide sleeves, a second connecting plate is fixedly connected between the top ends of the two guide columns, a specially-made sleeve positioning plate is fixedly installed on the top of the second connecting plate, specially-made sleeves are clamped on the top of the specially-made sleeve positioning plate, a latch air cylinder is fixedly installed on the top of the second connecting plate, a floating joint is fixedly connected to the piston rod of the latch air cylinder, and a latch is fixedly connected to one end of the back of the floating joint.

[0009] The automatic sleeve changing wrench assembly comprises two robot connecting plates fixedly installed on the opposite sides of the two-axis collaborative robot, the opposite sides of the two robot connecting plates are fixedly installed with back plates, the front and back surfaces of the back plates are fixedly installed with side plates, the front surface of the front side plate is fixedly installed with a cylinder protection cover, the opposite sides of the two side plates corresponding on the same side are fixedly installed with housings, the opposite sides of the two housings are rotatably connected with four equally spaced blocking pieces through bearings, the opposite sides of the two housings are rotatably connected with screw sleeves through bearings, the opposite sides of the two housings are fixedly installed with gear protection covers, the bottom of the housing is fixedly installed with a servo motor, the bottom of the back plate is fixedly connected with a camera assembly connecting plate, the left side of the right camera assembly connecting plate is fixedly installed with a 2D visual camera, the left side of the 2D visual camera is fixedly installed with a 2D visual camera protection cover, the left side of the 2D visual camera protection cover is fixedly installed with a visual camera light source, the top of the 2D visual camera protection cover is fixedly connected with the piston rod of the 2D visual camera protection cover cylinder, the top of the 2D visual camera protection cover cylinder is fixedly installed with a torque sensor protection cover cylinder, the piston rod of the torque sensor protection cover cylinder is fixedly installed with a torque sensor protection cover, the right side of the torque sensor protection cover is fixedly installed with a torque sensor, the right side of the left camera assembly connecting plate is fixedly installed with a 3D visual camera, the back surface of the 3D visual camera is fixedly installed with a protection cover cylinder, the piston rod of the protection cover cylinder is fixedly connected with a protection cover, the front surface of the front side plate is fixedly installed with a pull rod cylinder, the piston rod of the pull rod cylinder is fixedly connected with a pull rod connecting block, the top end of the pull rod connecting block is fixedly connected with a pull rod, the top end of the pull rod is fixedly connected with a roller fixed plate, the opposite sides of the two roller fixed plates are hingedly connected with two front and back symmetrical rollers through pins, the bottom end of the roller fixed plate is fixedly connected with two front and back symmetrical guide columns, the outer side of the guide column is slidably connected with a guide column seat between the outer side of the pull rod, the opposite sides of the two housings are rotatably connected with four intermeshing helical gears through bearings, the bottom of the bottom helical gear is meshed with a driven bevel gear, the bottom of the driven bevel gear is meshed with a driving bevel gear, the opposite sides of the two screw sleeves are fixedly connected with outer splines, the outer side of the outer spline is sleeved with a spring, the side away from the screw sleeve of the outer spline is fixedly connected with an inner spline.

[0010] Preferably, the piston rod of the lifting cylinder penetrates through the No. 1 connecting plate and is connected with the floating joint at the bottom end of the floating joint, the top end of the floating joint is fixedly connected with the No. 2 connecting plate.

[0011] Preferably, the two guide sleeves are distributed in front and back symmetry with the floating joint as the axis, the bottom end of the guide sleeve penetrates through the No. 1 connecting plate and is connected with the No. 1 connecting plate.

[0012] Preferably, one end of the back of the bolt penetrates through the special sleeve positioning plate and is inserted into the front of the special sleeve positioning plate.

[0013] Preferably, the main transmission structure of the planetary reducer is composed of a bearing, planetary gears, a sun gear and an inner ring gear, the inner side of the bearing is rotationally connected with a rotating rod, the outer side of the rotating rod is fixedly connected with the sun gear, the outer side of the sun gear is engaged with the three planetary gears, and the outer sides of the three planetary gears are engaged with the inner ring gear.

[0014] Preferably, the protection cover is concave, and the 3D vision camera is located on the inner side of the protection cover.

[0015] Preferably, the inner side of the cylinder protection cover is fixedly installed with a pull rod cylinder, the piston rod of the pull rod cylinder penetrates through the cylinder protection cover and extends to the bottom end of the pull rod and is connected with the pull rod.

[0016] Preferably, the pull rod is Z-shaped, the front side of the shell is provided with a sliding hole for the pull rod to slide, and the pull rod slides in close contact with the sliding hole.

[0017] Preferably, the inner spline is fixedly connected with a bevel gear at the end away from the spring, and the guide column seat is fixedly installed between the front and rear inner side walls of the shell.

[0018] Preferably, the roller fixing plate is concave, the end of the outer spline away from the screw sleeve is arc-shaped, and the inner side of the roller fixing plate is in close contact with the end of the outer spline away from the screw sleeve.

[0019] (Three) beneficial effects

[0020] Compared with the prior art, the robot automatic sleeve changing wrench has the following advantages

[0021] Beneficial effects:

[0022] The robot automatic sleeve changing wrench is used in cooperation among the shaft collaborative robot, the automatic sleeve changing device and the automatic sleeve changing wrench assembly installed on the sixth shaft of the robot, so as to replace manual movement of the wrench to the rear axle suspension nut position to be adjusted, and the robot can automatically change the corresponding sleeve according to the nut of different models of automobiles. In addition, the device can perform full-automatic operation in the pit without manual intervention, so as to improve the working environment of workers, eliminate safety risks, automatically and quickly adjust, and effectively improve the production efficiency of the existing sleeve changing wrench. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 A structural schematic view is provided for the present application.

[0024] Figure 2It is a perspective view of the automatic sleeve-changing wrench assembly in the application;

[0025] Figure 3 It is a perspective view of the bevel gear connecting structure in the application;

[0026] Figure 4 It is a perspective view of the spring connecting structure in the application;

[0027] Figure 5 It is a perspective view of the automatic sleeve-changing device in the application;

[0028] Figure 6 It is a top view of the automatic sleeve-changing device in the application.

[0029] In the figure: 1 installation base plate, 2 axis collaborative robot, 300 automatic sleeve-changing device, 301 fixed plate, 302 support column, 303 No. 1 connecting plate, 304 lifting cylinder, 305 floating joint, 306 guide sleeve, 307 guide column, 308 No. 2 connecting plate, 309 specially-made sleeve positioning plate, 310 specially-made sleeve, 311 bolt cylinder, 312 floating joint, 313 bolt, 400 automatic sleeve-changing wrench assembly, 401 robot connecting plate, 402 back plate, 403 side plate, 404 cylinder protection cover, 405 shell, 406 baffle, 407 screw sleeve, 408 gear protection cover, 409 planetary reducer, 410 servo motor, 411 camera assembly connecting plate, 412 2D vision camera, 413 2D vision camera protection cover, 414 vision camera light source, 415 2D vision camera protection cover cylinder, 416 torque sensor protection cover cylinder, 417 torque sensor protection cover, 418 torque sensor, 419 3D vision camera, 420 protection cover cylinder, 421 protection cover, 422 pull rod cylinder, 423 pull rod connecting block, 424 pull rod, 425 roller fixing plate, 426 roller, 427 guide column, 428 guide column seat, 429 bevel gear, 430 driven bevel gear, 431 driving bevel gear, 432 inner spline, 433 outer spline, 434 spring. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative work fall within the protection scope of the application.

[0031] Please refer to Figures 1-6The application provides a technical scheme: a robot automatic sleeve changing wrench, which comprises a mounting bottom plate 1, shaft cooperation robots 2 fixedly installed on the top of the mounting bottom plate 1, four automatic sleeve changing devices 300 in equidistant arrangement and installed on the top of the mounting bottom plate 1, wherein the automatic sleeve changing devices 300 are not limited to four in actual use and can be flexibly adjusted to be multiple according to the actual situation on site, and automatic sleeve changing wrench assemblies 400 are installed on the opposite sides of the two shaft cooperation robots 2. The shaft cooperation robots 2, the automatic sleeve changing devices 300 and the automatic sleeve changing wrench assemblies 400 are used in cooperation, the automatic sleeve changing wrench is installed on the sixth shaft of the robot, the wrench is moved to the rear axle suspension nut position to be adjusted by replacing manual work, meanwhile, the robot can automatically replace the corresponding sleeve according to the nuts of different models of automobiles, in addition, the device can perform full-automatic operation in a pit without manual intervention, so that the working environment of workers is improved, safety risks are eliminated, and adjustment can be automatically and quickly performed, so that the production efficiency of the existing sleeve changing wrench is effectively improved.

[0032] The automatic sleeve changing device 300 in the embodiment is a structure for the robot to automatically replace the corresponding sleeve according to the nuts of different models of automobiles.

[0033] As shown in Figure 1 , Figure 5 and Figure 6 , the automatic sleeve changing device 300 comprises a fixed plate 301 fixedly installed on the top of the mounting bottom plate 1, four support columns 302 in rectangular and uniform distribution and fixedly installed on the top of the fixed plate 301, a first connecting plate 303 fixedly installed between the top ends of the four support columns 302, a lifting cylinder 304 fixedly installed on the bottom of the first connecting plate 303, a floating joint 305 fixedly connected to the piston rod of the lifting cylinder 304, two guide sleeves 306 in front-back symmetry and fixedly installed on the top of the first connecting plate 303, guide columns 307 slidably connected to the inner sides of the guide sleeves 306, a second connecting plate 308 fixedly connected between the top ends of the two guide columns 307, a special sleeve positioning plate 309 fixedly installed on the top of the second connecting plate 308, a special sleeve 310 clamped on the top of the special sleeve positioning plate 309, a latch cylinder 311 fixedly installed on the top of the second connecting plate 308, a floating joint 312 fixedly connected to the piston rod of the latch cylinder 311, and a latch 313 fixedly connected to one end of the back of the floating joint 312.

[0034] It should be noted that the piston rod of the lifting cylinder 304 penetrates through the first connecting plate 303 and extends to the bottom end of the floating joint 305 and is connected to the floating joint 305, and the top end of the floating joint 305 is fixedly connected to the second connecting plate 308, so as to more stably push the second connecting plate 308 to move up and down.

[0035] It can be understood that the two guide sleeves 306 are symmetrically distributed forward and backward with the floating joint 305 as the axis, and the bottom end of the guide sleeve 306 penetrates the first connecting plate 303 and is connected with the first connecting plate 303, so as to more stably support the guide column 307 to slide.

[0036] In addition, one end of the back of the bolt 313 penetrates the special sleeve positioning plate 309 and is inserted into the front of the special sleeve positioning plate 309, so as to be able to limit the special sleeve 310.

[0037] The automatic sleeve changing wrench assembly 400 in the embodiment is a structure for replacing manual movement of the wrench to the position of the rear axle suspension nut that needs to be adjusted.

[0038] As Figure 1 , Figure 2 , Figure 3 and Figure 4As shown, the automatic sleeve-changing wrench assembly 400 comprises two robot connecting plates 401 fixedly installed on opposite sides of the two-axis collaborative robot 2, the opposite sides of the two robot connecting plates 401 are fixedly installed with back plates 402, the front and back of the back plate 402 is fixedly installed with side plates 403, the front of the front side plate 403 is fixedly installed with a cylinder protection cover 404, two side plates 403 corresponding to the same side are fixedly installed with a shell 405 between the opposite sides, the opposite sides of the two shells 405 are rotatably connected with four equally spaced blocking pieces 406 through bearings, the opposite sides of the two shells 405 are rotatably connected with a screw sleeve 407 through bearings, the opposite sides of the two shells 405 are fixedly installed with a gear protection cover 408, the bottom of the shell 405 is fixedly installed with a servo motor 410, the bottom of the back plate 402 is fixedly connected with a camera assembly connecting plate 411, the left side of the right camera assembly connecting plate 411 is fixedly installed with a 2D vision camera 412, the left side of the 2D vision camera 412 is fixedly installed with a 2D vision camera protection cover 413, the left side of the 2D vision camera protection cover 413 is fixedly installed with a vision camera light source 414, the top of the 2D vision camera protection cover 413 is fixedly connected with the piston rod of a 2D vision camera protection cover cylinder 415, the top of the 2D vision camera protection cover cylinder 415 is fixedly installed with a torque sensor protection cover cylinder 416, the piston rod of the torque sensor protection cover cylinder 416 is fixedly installed with a torque sensor protection cover 417, the right side of the torque sensor protection cover 417 is fixedly installed with a torque sensor 418, the right side of the left camera assembly connecting plate 411 is fixedly installed with a 3D vision camera 419, the back of the 3D vision camera 419 is fixedly installed with a protection cover cylinder 420, the piston rod of the protection cover cylinder 420 is fixedly connected with a protection cover 421, the front of the front side plate 403 is fixedly installed with a pull rod cylinder 422, the piston rod of the pull rod cylinder 422 is fixedly connected with a pull rod connecting block 423, the top end of the pull rod connecting block 423 is fixedly connected with a pull rod 424, the top end of the pull rod 424 is fixedly connected with a roller fixed plate 425, the opposite sides of the two roller fixed plates 425 are hingedly connected with two front and back symmetrical rollers 426 through pins, the bottom end of the roller fixed plate 425 is fixedly connected with two front and back symmetrical guide columns 427, the outer side of the guide column 427 and the outer side of the pull rod 424 are slidably connected with a guide column seat 428, the opposite sides of the two shells 405 are rotatably connected with four intermeshing bevel gears 429 through bearings, the bottom of the bottom bevel gear 429 is meshed with a driven bevel tooth 430, the bottom of the driven bevel tooth 430 is meshed with a driving bevel tooth 431, the opposite sides of the two screw sleeves 407 are fixedly connected with outer splines 433, the outer side of the outer spline 433 is sleeved with a spring 434, the side away from the screw sleeve 407 of the outer spline 433 is fixedly connected with an inner spline 432.

[0039] It should be noted that the main transmission structure of the planetary reducer 409 is composed of a bearing, planetary gears, a sun gear and an inner ring gear, the inner side of the bearing is rotatably connected with a rotating rod, the outer side of the rotating rod is fixedly connected with the sun gear, the outer side of the sun gear is engaged with three planetary gears, the outer sides of the three planetary gears are engaged with the inner ring gear, and the working principle is that the meshing action of the sun gear and the planetary gears promotes the rotation of the planetary gears, and at the same time, due to the meshing of the other side of the planetary gears with the annular inner ring gear on the inner wall of the planetary reducer shell, the planetary gears will roll on the annular inner ring gear in the same direction as the sun gear rotates under the driving force of rotation, forming a "revolution" motion around the sun gear.

[0040] It can be understood that the protective cover 421 is concave, and the 3D vision camera 419 is located on the inner side of the protective cover 421, which is to better protect the 3D vision camera 419.

[0041] In addition, the inner side of the cylinder protective cover 404 is fixedly installed with a pull rod cylinder 422, the piston rod of the pull rod cylinder 422 penetrates through the cylinder protective cover 404 and extends to the bottom end of the pull rod 424 and is connected with the pull rod 424, which is to make the pull rod 424 move more stably.

[0042] In the embodiment, the pull rod 424 is Z-shaped, the front surface of the shell 405 is provided with a sliding hole for the pull rod 424 to slide, and the pull rod 424 slides in close contact with the sliding hole, which is to make the pull rod 424 move up and down on the sliding hole more stably.

[0043] It should be further explained that the inner spline 432 is fixedly connected with the bevel gear 429 at the end away from the spring 434, and the guide column seat 428 is fixedly installed between the front and rear inner side walls of the shell 405, which is only to stably guide and support the roller fixing plate 425.

[0044] It should be further understood that the roller fixing plate 425 is concave, the end of the outer spline 433 away from the threaded sleeve 407 is arc-shaped, and the inner side of the roller fixing plate 425 is in close contact with the end of the outer spline 433 away from the threaded sleeve 407, which is to prevent the two rollers 426 from falling off by clamping the outer spline 433 after the roller fixing plate 425 and the end of the outer spline 433 away from the threaded sleeve 407 are in close contact.

[0045] The working principle of the above embodiment is as follows:

[0046] When the four-wheel aligner determines the vehicle model, according to the nut specifications of the vehicle model, the shaft collaborative robot 2 automatically adjusts according to the requirements, at this time the piston rod of the lifting cylinder 304 is raised, under the action of sliding connection, the guide column 307 in the guide sleeve 306 moves upward, the special sleeve positioning plate 309 is pushed into the head of the special sleeve 310, then the latch cylinder 311 is started and the floating joint 312 is pushed, so that the latch 313 is inserted into the special sleeve positioning plate 309, then the pull rod cylinder 422 is started, the piston rod of the pull rod cylinder 422 is retracted, the pull rod 424 moves downward, under the action of sliding connection of the guide column seat 428 and the pull rod 424 and the guiding and supporting action of the guide column 427 and the guide column seat 428, the roller fixing plate 425 moves downward stably, at this time the roller 426 is separated from the external spline 433, the roller 426 releases the screw sleeve 407, then the lifting cylinder 304 is controlled to retract, the No. 2 connecting plate 308 moves downward, and the sleeve can be taken out. After the sleeve is taken out, the shaft collaborative robot 2 moves the device above the screw sleeve 407 corresponding to the nut specifications of the vehicle model, then the servo motor 410 is started and rotates at low torque, then the piston rod of the lifting cylinder 304 is raised, the external spline 433 on the special sleeve 310 is sleeved into the internal spline 432 on the bevel gear 429, at this time the lifting cylinder 304 senses that the cylinder is in place, the latch cylinder 311 is controlled to retract, the latch 313 is retracted, the restriction on the special sleeve positioning plate 309 is released, the special sleeve positioning plate 309 is released, then the piston rod of the pull rod cylinder 422 is extended, under the action of sliding connection of the guide column seat 428, the pull rod 424 drives the roller fixing plate 425 to move upward, at this time the two rollers 426 clamp the screw sleeve 407, after the pull rod cylinder 422 senses that the cylinder is in place, the lifting cylinder 304 is controlled to descend, and the replacement of the sleeve is completed. The shaft collaborative robot 2 moves the device to the origin and waits for the arrival of the vehicle.

[0047] When the car arrives at the four-wheel aligner, at this time the shaft collaborative robot 2 moves the 2D vision camera 412 and the 3D vision camera 419 on the device below the automobile rear axle suspension nut position and takes a photo of it, determines the nut position, after the photographing is completed, the shaft collaborative robot 2 rotates, the device is sleeved into the nut head, the left screw sleeve 407 fixes the nut head, and the servo motor 410 is started, drives the planetary reducer 409 to rotate, the planetary reducer 409 drives the driving bevel gear 431 to rotate, drives the engaged driven bevel gear 430 to rotate, because the four bevel gears 429 are engaged with each other, so the driven bevel gear 430 drives the bevel gear 429 to rotate, thereby driving the screw sleeve 407 to rotate, and then rotating the nut, the right screw sleeve 407 adjusts the nut through the above principle, after the four-wheel aligner sensor determines that the adjustment is qualified, the left screw sleeve 407 adjusts the nut through the above principle, after the adjustment is qualified, the shaft collaborative robot 2 controls the device to push back to the origin and waits for the next car.

[0048] Compared with the prior art: the robot automatic sleeve wrench, through the cooperation of the shaft on the base plate 1, the mutual cooperation between the automatic sleeve device 300 and the automatic sleeve wrench assembly 400, the automatic sleeve wrench is installed on the sixth axis of the robot, which replaces the manual movement of the wrench to the rear axle suspension nut position that needs to be adjusted, and according to the nut of different models of cars, the robot can automatically replace the corresponding sleeve, in addition, the device can perform full-automatic operation in the pit without manual intervention, thereby improving the working environment of workers, eliminating safety risks, and automatically and quickly adjusting, thereby effectively improving the production efficiency of the existing sleeve wrench, solving the problem of poor production efficiency of the existing sleeve wrench.

[0049] The electrical components in the text are electrically connected with the master controller and the power supply. The master controller can be a conventional known device such as a computer for control, and the existing disclosed power connection technology and power supply also belong to the common knowledge in the art, so the present application will not be described in detail.

[0050] It should be noted that in this text, relational terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or device including the element.

[0051] Although embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application.

Claims

1. A robot automatic sleeve changing wrench comprising a mounting base plate (1), characterized in that: The top of the mounting base (1) is fixedly installed with two shaft cooperation robots (2), and the top of the mounting base (1) is installed with four automatic sleeve changing devices (300) arranged at equal intervals, and two shaft cooperation robots (2) are installed with automatic sleeve changing wrench assemblies (400) on the opposite sides. The automatic sleeve changing device (300) comprises a fixed plate (301) fixedly installed on the top of the mounting base (1), four support columns (302) uniformly distributed in a rectangular shape are fixedly installed on the top of the fixed plate (301), a first connecting plate (303) is fixedly installed between the top ends of the four support columns (302), a lifting cylinder (304) is fixedly installed at the bottom of the first connecting plate (303), a first floating joint (305) is fixedly connected to the piston rod of the lifting cylinder (304), two guide sleeves (306) are fixedly installed on the top of the first connecting plate (303) and are symmetrically arranged front and back, a first guide column (307) is slidably connected to the inner side of the guide sleeve (306), a second connecting plate (308) is fixedly connected between the top ends of the two first guide columns (307), a special sleeve positioning plate (309) is fixedly installed on the top of the second connecting plate (308), a special sleeve (310) is clamped on the top of the special sleeve positioning plate (309), a latch cylinder (311) is fixedly installed on the top of the second connecting plate (308), a second floating joint (312) is fixedly connected to the piston rod of the latch cylinder (311), and a latch (313) is fixedly connected to the back of the second floating joint (312). The automatic sleeve changing wrench assembly (400) comprises two robot connecting plates (401) fixedly installed on opposite sides of a two-axis collaborative robot (2), back plates (402) fixedly installed on opposite sides of the two robot connecting plates (401), side plates (403) fixedly installed on the front and back of the back plates (402), cylinder protection covers (404) fixedly installed on the front of the front side plates (403), housings (405) fixedly installed between opposite sides of two side plates (403) corresponding to the same side, four blocking pieces (406) rotationally connected to the opposite sides of the two housings (405) through bearings and arranged at equal intervals, screw sleeves (407) rotationally connected to the opposite sides of the two housings (405) through bearings, gear protection covers (408) fixedly installed on the opposite sides of the two housings (405), a servo motor (410) fixedly installed at the bottom of the housing (405), a camera assembly connecting plate (411) fixedly connected to the bottom of the back plate (402), a 2D visual camera (412) fixedly installed on the left side of the right camera assembly connecting plate (411), a 2D visual camera protection cover (413) fixedly installed on the left side of the 2D visual camera (412), a visual camera light source (414) fixedly installed on the left side of the 2D visual camera protection cover (413), a piston rod of a 2D visual camera protection cover cylinder (415) fixedly connected to the top of the 2D visual camera protection cover (413), a torque sensor protection cover cylinder (416) fixedly installed at the top of the 2D visual camera protection cover cylinder (415), a torque sensor protection cover (417) fixedly installed on the piston rod of the torque sensor protection cover cylinder (416), a torque sensor (418) fixedly installed on the right side of the torque sensor protection cover (417), a 3D visual camera (419) fixedly installed on the right side of the left camera assembly connecting plate (411), a protection cover cylinder (420) fixedly installed on the back of the 3D visual camera (419), a protection cover (421) fixedly connected to the piston rod of the protection cover cylinder (420), a pull rod cylinder (422) fixedly installed on the front of the front side plate (403), a pull rod connecting block (423) fixedly connected to the piston rod of the pull rod cylinder (422), a pull rod (424) fixedly connected to the top end of the pull rod connecting block (423), roller fixed plates (425) fixedly connected to the top ends of the pull rod (424), two rollers (426) symmetrically arranged in front and back and hinged to the opposite sides of the two roller fixed plates (425) through pins, two No. two guide columns (427) symmetrically arranged in front and back and fixedly connected to the bottom ends of the roller fixed plates (425), a guide column seat (428) slidably connected between the outer sides of the No. two guide columns (427) and the outer sides of the pull rod (424), four helical gears (429) rotationally connected to the inner sides of the two housings (405) through bearings and meshed with each other,The bottom of the bevel gear (429) is engaged with a driven bevel gear (430), the bottom of the driven bevel gear (430) is engaged with a driving bevel gear (431), and the side, away from the screw sleeve (407), of the two outer splines (433) is fixedly connected with an inner spline (432). The robot automatic sleeve changing wrench is also provided with a planetary reducer (409), the servo motor (410) is started to drive the planetary reducer (409) to rotate, the planetary reducer (409) drives the driving bevel gear (431) to rotate to drive the meshing driven bevel gear (430) to rotate, and the main transmission structure of the planetary reducer (409) comprises a bearing, planetary gears, a sun gear and an internal gear ring, a rotating rod is rotatably connected to the inner side of the bearing, the sun gear is fixedly connected to the outer side of the rotating rod, the sun gear is meshed with three planetary gears, and the internal gear ring is meshed between the outer sides of the three planetary gears.

2. The robotically automated sleeve changer wrench of claim 1, wherein: The piston rod of the lifting cylinder (304) penetrates through the first connecting plate (303) and extends to the bottom end of the first floating joint (305) to be connected with the first floating joint (305), and the top end of the first floating joint (305) is fixedly connected with the second connecting plate (308).

3. The robotically automated sleeve changer wrench of claim 1, wherein: The two guide sleeves (306) are symmetrically distributed front and back with the first floating joint (305) as the axis, and the bottom end of the guide sleeve (306) penetrates through the first connecting plate (303) and is connected with the first connecting plate (303).

4. The robotically automated sleeve changer wrench of claim 1, wherein: The back end of the latch (313) penetrates through the special sleeve positioning plate (309) and is inserted into the front of the special sleeve positioning plate (309).

5. The robotically automated sleeve changer wrench of claim 1, wherein: The protective cover (421) is concave, and the 3D vision camera (419) is located on the inner side of the protective cover (421).

6. The robotically automated sleeve changer wrench of claim 1, wherein: The inner side of the cylinder protection cover (404) is fixedly provided with a pull rod cylinder (422), the piston rod of the pull rod cylinder (422) penetrates the cylinder protection cover (404) and extends to the bottom end of a pull rod (424) and is connected with the pull rod (424).

7. The robotically automated sleeve changer wrench of claim 1, wherein: The pull rod (424) is in Z shape, the front surface of the shell (405) is provided with a sliding hole for the pull rod (424) to slide, and the pull rod (424) is in close sliding fit with the sliding hole.

8. The robotic sleeve-changer wrench of claim 1, wherein: The inner spline (432) is fixedly connected with a bevel gear (429) at the end away from the spring (434), and the shell (405) is fixedly provided with a guide column seat (428) between the two inner side walls.

9. The robotic sleeve-changer wrench of claim 1, wherein: The roller fixing plate (425) is concave, the outer spline (433) is arc-shaped at the end away from the screw sleeve (407), and the inner side of the roller fixing plate (425) is in close fit with the end of the outer spline (433) away from the screw sleeve (407).

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