Sleeve replacing system

Abstract

The invention provides a sleeve replacement system which is used for grabbing a sleeve with a large outer diameter and moving the sleeve to a designated position. The sleeve replacement system comprises a sleeve storage device and a sleeve replacement device. The sleeve storage device is used for storing at least one sleeve; the sleeve replacing device is connected with the mechanical arm and used for grabbing the sleeves in the sleeve storage device. The manipulator is used for moving the sleeve to a designated position through the sleeve replacing device; the sleeve storage device comprises a sleeve storage mechanism, a sleeve positioning mechanism and a positioning adjusting mechanism. The sleeve replacing device comprises a sleeve body, a steel ball, a fixing ring and a spring. One end of the sleeve has an annular groove. According to the automatic sleeve grabbing device, the sleeves stored in the sleeve storage device are grabbed through the sleeve replacing device, the grabbed sleeves are transferred to the designated position, automatic sleeve grabbing is achieved, the situation that the sleeves are manually carried and replaced is avoided, and the carrying and replacing efficiency of the sleeves is improved.

Description

Technical Field

[0001] The present application relates to the field of mechanical technology, and in particular to a sleeve replacement system. Background Art

[0002] A sleeve is a common mechanical part, which is used to tighten or loosen screws, or to connect two independent parts. Usually, the assembly manufacturing industry usually uses a large outer diameter sleeve for part installation or part connection for equipment assembly; currently, large outer diameter sleeves are usually moved to the specified position by manual handling.

[0003] However, the inventors have found that since the large outer diameter sleeve is heavy, long-term manual handling and replacement usually results in low handling and replacement efficiency, excessive worker fatigue, and low equipment assembly efficiency. Summary of the invention

[0004] The present application provides a sleeve replacement system to solve the current problem that due to the large weight of the sleeve with a large outer diameter, it takes a long time to manually transport and replace it, which usually results in low transportation and replacement efficiency, excessive worker fatigue, and thus leads to low equipment assembly efficiency.

[0005] In a first aspect, the present application provides a sleeve replacement system for grabbing a sleeve with a large outer diameter and moving the sleeve to a specified position;

[0006] The sleeve replacement system comprises: a sleeve storage device and a sleeve replacement device;

[0007] The sleeve storage device is used to store at least one sleeve;

[0008] The sleeve replacement device is connected to a manipulator, and the sleeve replacement device is used to grab the sleeve in the sleeve storage device; the manipulator is used to move the sleeve to a specified position through the sleeve replacement device;

[0009] The sleeve storage device comprises: a sleeve storage mechanism, a sleeve positioning mechanism and a positioning adjustment mechanism;

[0010] The sleeve storage mechanism is used to store the sleeve;

[0011] The sleeve positioning mechanism is located above the sleeve storage mechanism, and the sleeve positioning mechanism is used to position the sleeve on the sleeve storage mechanism;

[0012] The positioning adjustment mechanism is connected to the sleeve positioning mechanism, and the positioning adjustment mechanism is used to adjust the distance between the sleeve positioning mechanism and the sleeve storage mechanism in the vertical direction;

[0013] The sleeve replacement device comprises: a cylinder, a steel ball, a fixing ring and a spring; one end of the sleeve has an annular groove;

[0014] The cylinder has a clamping channel, the clamping channel connects the top end and the bottom end of the cylinder, and one end of the sleeve having the annular groove is inserted into the clamping channel from the bottom end of the cylinder;

[0015] The steel ball is connected to the side wall of the clamping channel, and the steel ball is used to be inserted into the annular groove of the cylinder body so that the sleeve replacement device can grab the sleeve;

[0016] The bottom end of the fixing ring is connected to the top end of the cylinder, the spring is located inside the fixing ring and is coaxially connected to the fixing ring, and the spring is used to apply pressure to the sleeve inserted into the clamping channel to make the sleeve detach from the sleeve replacement device.

[0017] In the above scheme, the sleeve storage mechanism includes: a bottom plate and a sleeve support;

[0018] The sleeve support is fixed on the upper surface of the bottom plate, and the sleeve support is used to place the sleeve;

[0019] At least one sleeve support is arranged in a matrix on the base plate.

[0020] In the above scheme, the sleeve storage mechanism further comprises: a sensor support, a proximity switch, a base and a foot;

[0021] The sensor support is fixed on the bottom plate, the proximity switch is fixed on the sensor support, the proximity switch corresponds to the sleeve support, and the proximity switch is used to detect the sleeve on the sleeve support;

[0022] The base is connected to the lower surface of the bottom plate, and the foot is connected to the bottom end of the base.

[0023] In the above scheme, the sleeve positioning mechanism includes: a positioning support seat;

[0024] The positioning support seat is used to position the sleeve on the sleeve storage mechanism;

[0025] The positioning support seat has a positioning channel and a side opening;

[0026] The positioning channel is connected to the top and bottom of the positioning support seat; the sleeve is inserted into the positioning channel so that the positioning support seat positions the sleeve;

[0027] The side opening is located on a side of the positioning support seat, and the side opening is used to connect the positioning channel with the outside world from the side of the positioning channel.

[0028] In the above scheme, the positioning adjustment mechanism includes: a movable plate and a power device;

[0029] The movable plate is located above the bottom plate of the sleeve storage mechanism, and the movable plate has a U-shaped hole, and the U-shaped hole connects the upper surface and the lower surface of the movable plate;

[0030] The axis of the positioning channel is consistent with the axis of the U-shaped hole, and the positioning support seat is fixed on the upper surface of the movable plate;

[0031] The power device is fixed on the bottom plate of the sleeve storage mechanism, the power device is connected to the movable plate, and the power device is used to adjust the distance between the movable plate and the bottom plate in the vertical direction.

[0032] In the above scheme, the power equipment includes: a transition plate, a cylinder, a floating joint, an exhaust speed regulating valve and an oil pressure buffer;

[0033] The transition plate is fixed on the bottom plate of the sleeve storage mechanism, the cylinder is fixed on the transition plate, and the cylinder rod of the cylinder is connected to the movable plate through the floating joint;

[0034] The exhaust speed regulating valve is connected to the cylinder;

[0035] The oil pressure buffer is fixed on the movable plate, and the oil pressure buffer is used for buffering the sleeve located below the movable plate.

[0036] In the above scheme, the positioning adjustment mechanism further includes: a guiding structure and a limiting structure;

[0037] The guide structure is connected to the movable plate and the bottom plate of the sleeve storage mechanism, and the guide structure is used to limit the moving direction of the movable plate to the vertical direction;

[0038] The limiting structure is connected to the guiding structure and the movable plate, and the limiting structure is used to limit the moving range of the movable plate.

[0039] In the above scheme, the guide structure includes: an oil-free bushing, a guide support seat and a guide shaft;

[0040] The oil-free bushing is fixed on the movable plate, and the oil-free bushing is connected with the upper surface and the lower surface of the movable plate;

[0041] The guide support seat is fixed on the bottom plate of the sleeve storage mechanism;

[0042] The top end of the guide shaft passes through the oil-free bushing, and the bottom end of the guide shaft is connected to the guide support seat.

[0043] In the above solution, two or more of the guide structures are connected to the movable plate and the bottom plate respectively;

[0044] The limiting structure comprises: a limiting rod and a limiting bolt;

[0045] The two ends of the limit rod are respectively connected to the top ends of any two guide structures among the two or more guide structures;

[0046] The limiting bolt is connected to the movable plate, and the limiting bolt is used to limit the moving range of the movable plate by contacting with the limiting rod.

[0047] In the above scheme, the sleeve replacement device also includes: a retaining spring, a sealing ring, a connecting tube and a pressing block;

[0048] The retaining spring is fixed to the top of the inner side of the fixing ring, and the retaining spring is used to prevent the spring from moving upward along the axial direction of the fixing ring;

[0049] The bottom end of the connecting tube is connected to the top end of the fixing ring, and the connecting tube is used to connect to the manipulator;

[0050] The sealing ring is located between the fixing ring and the connecting tube;

[0051] The pressing block is located between the steel ball and the bottom end of the cylinder and is fixed on the side wall of the clamping channel. The pressing block is used to clamp the connecting rod located in the clamping channel.

[0052] The present application provides a sleeve replacement system, which connects a sleeve replacement device with a manipulator, and the manipulator grabs the sleeve stored in the sleeve storage device through the sleeve replacement device, and transfers the grabbed sleeve to a designated position, so as to achieve the technical effect of automatically grabbing the sleeve; therefore, the manipulator grabs the sleeve to the designated position through the sleeve replacement device, thereby avoiding manual handling and replacement of the sleeve, avoiding excessive fatigue of workers, and improving the handling and replacement efficiency of the sleeve, thereby improving the equipment assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0054] Figure 1 A schematic diagram of the three-dimensional structure of a sleeve replacement system provided in this application;

[0055] Figure 2 A front structural schematic diagram of a sleeve replacement system provided in the present application;

[0056] Figure 3 for Figure 2 Schematic diagram of the cross-sectional structure of the AA part.

[0057] Reference numerals:

[0058] 1: Sleeve storage device;

[0059] 2: Sleeve replacement device;

[0060] 3: Sleeve;

[0061] 11: Sleeve storage mechanism;

[0062] 12: Sleeve positioning mechanism;

[0063] 13: Positioning adjustment mechanism;

[0064] 21: cylinder;

[0065] 22: Steel ball;

[0066] 23: fixing ring;

[0067] 24: Spring;

[0068] 25: circlip;

[0069] 26: Sealing ring;

[0070] 27: Connecting tube;

[0071] 28: Briquetting;

[0072] 111: bottom plate;

[0073] 112: sleeve support;

[0074] 113: sensor support;

[0075] 114: proximity switch;

[0076] 115: base;

[0077] 116: Ground foot;

[0078] 121: positioning support seat;

[0079] 122: positioning channel;

[0080] 123: side opening;

[0081] 131: movable board;

[0082] 132: Power equipment;

[0083] 133: U-shaped hole;

[0084] 134: Guidance structure;

[0085] 135: Limiting structure;

[0086] 1321: Transition plate;

[0087] 1322: Cylinder;

[0088] 1323: floating joint;

[0089] 1324: Exhaust speed regulating valve;

[0090] 1325: Oil pressure buffer;

[0091] 1341: Oil-free bushing;

[0092] 1342: guide support seat;

[0093] 1343: guide shaft;

[0094] 1351: limit rod;

[0095] 1352: Limit bolt;

[0096] 211: clamping channel;

[0097] 31: annular groove;

[0098] 32: Ontology;

[0099] 33: connecting rod;

[0100] 34: Plunger.

[0101] The above drawings have shown clear embodiments of the present application, which will be described in more detail later. These drawings and text descriptions are not intended to limit the scope of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0102] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present application. Instead, they are only examples of devices and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0103] The following specific embodiments are used to describe in detail the technical solutions of the embodiments of the present application and how the technical solutions of the embodiments of the present application solve the current problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0104] See also Figure 1-Figure 3 , the embodiment of the present application provides a sleeve replacement system for grabbing a sleeve 3 with a large outer diameter and moving the sleeve 3 to a specified position;

[0105] The sleeve replacement system comprises: a sleeve storage device 1 and a sleeve replacement device 2;

[0106] The sleeve storage device 1 is used to store at least one sleeve 3;

[0107] The sleeve replacement device 2 is connected to a manipulator, and the sleeve replacement device 2 is used to grab the sleeve 3 in the sleeve storage device 1; the manipulator is used to move the sleeve 3 to a specified position through the sleeve replacement device 2;

[0108] The sleeve storage device 1 comprises: a sleeve storage mechanism 11, a sleeve positioning mechanism 12 and a positioning adjustment mechanism 13;

[0109] The sleeve storage mechanism 11 is used to store the sleeve 3;

[0110] The sleeve positioning mechanism 12 is located above the sleeve storage mechanism 11, and the sleeve positioning mechanism 12 is used to position the sleeve 3 on the sleeve storage mechanism 11;

[0111] The positioning adjustment mechanism 13 is connected to the sleeve positioning mechanism 12, and the positioning adjustment mechanism 13 is used to adjust the distance between the sleeve positioning mechanism 12 and the sleeve storage mechanism 11 in the vertical direction;

[0112] The sleeve replacement device 2 comprises: a cylinder 21, a steel ball 22, a fixing ring 23 and a spring 24; one end of the sleeve 3 has an annular groove 31;

[0113] The barrel 21 has a clamping channel 211, and the clamping channel 211 connects the top and bottom ends of the barrel 21. One end of the sleeve 3 having the annular groove 31 is inserted into the clamping channel 211 from the bottom end of the barrel 21.

[0114] The steel ball 22 is connected to the side wall of the clamping channel 211, and the steel ball 22 is used to be inserted into the annular groove 31 of the cylinder 21, so that the sleeve replacement device 2 grabs the sleeve 3;

[0115] The bottom end of the fixing ring 23 is connected to the top end of the cylinder 21 , the spring 24 is located inside the fixing ring 23 and is coaxially connected to the fixing ring 23 , and the spring 24 is used to apply pressure to the sleeve 3 inserted into the clamping channel 211 to make the sleeve 3 detach from the sleeve replacement device 2 .

[0116] In this example, the sleeve 3 is a sleeve 3 with a large outer diameter and a variety of varieties. The sleeve 3 includes a main body 32 and a connecting rod 33. The sleeve 3 main body 32 is used to realize the function of the sleeve 3, and the connecting rod 33 is used to be captured by the sleeve replacement device 2. The connecting rod 33 is connected to the top end of the main body 32, and the connecting rod 33 has the annular groove 31 on the end away from the main body 32; wherein, the connecting rod 33 and the main body 32 are connected by a plunger 34, the bottom end of the connecting rod 33 is inserted into the main body 32, the plunger 34 and the connecting rod 33 are perpendicular to each other, and one end of the plunger 34 passes through the main body 32 and the connecting rod 33, so that the main body 32 and the connecting rod 33 are connected to each other.

[0117] The sleeve replacement device 2 is connected to the manipulator, which grabs the sleeve 3 stored in the sleeve storage device 1 through the sleeve replacement device 2 and transfers the grabbed sleeve 3 to a designated position to achieve the technical effect of automatically grabbing the sleeve 3, wherein the designated position is used to replace the installation position of the sleeve 3.

[0118] Therefore, the sleeve 3 is grabbed to the specified position by a robot through the sleeve replacement device 2, which avoids the manual handling and replacement of the sleeve 3, avoids excessive fatigue of workers, and improves the handling and replacement efficiency of the sleeve 3, thereby improving the equipment assembly efficiency.

[0119] A sleeve storage mechanism 11 is provided for placing the sleeve 3, and a sleeve positioning mechanism 12 is provided to position the sleeve 3 to prevent the sleeve 3 from shaking or tipping over; a positioning adjustment mechanism 13 is used to adjust the distance between the sleeve positioning mechanism 12 and the sleeve storage mechanism 11 in the vertical direction to ensure that the sleeve storage mechanism 11 can store sleeves 3 of different heights, thereby expanding the scope of application of the sleeve storage mechanism 11.

[0120] By setting the cylinder 21 in the sleeve replacement device 2, the sleeve 3 can be inserted into the cylinder 21; wherein, the connecting rod 33 of the sleeve 3 will be inserted into the clamping channel 211 of the cylinder 21; by setting the steel ball 22 inside the cylinder 21, the steel ball 22 can be inserted into the annular groove 31 of the connecting rod 33, thereby realizing that the sleeve replacement device 2 can clamp the sleeve 3 by inserting the steel ball 22 into the annular groove 31.

[0121] The spring 24 is provided to apply pressure to the sleeve 3 in the clamping channel 211 so as to pop the sleeve 3 out of the cylinder 21; specifically, after the sleeve 3 is grasped to the specified position, the manipulator applies pressure to the sleeve changing device 2 to make the steel ball 22 disengage from the annular groove 31 and contact with the side wall of the connecting rod 33; at the same time, the manipulator applies pressure to the sleeve changing device 2 to make the connecting rod 33 contact with the spring 24 and squeeze the spring 24; when the manipulator cancels the pressure applied to the sleeve changing device 2, the squeezed spring 24 will apply pressure to the connecting rod 33 to make the connecting rod 33 disengage from the cylinder 21, during which the steel ball 22 will enter the annular groove 31 again, but with the pressure applied by the spring 24 to the connecting rod 33, the connecting rod 33 will continue to move toward the outside of the clamping channel 211 at a higher speed, so that the steel ball 22 will disengage from the annular groove 31 again, thereby achieving the technical effect of the sleeve 3 disengaging from the cylinder 21.

[0122] The fixing ring 23 is provided to fix the spring 24 so as to ensure the stability of the spring 24 .

[0123] A worker can pull out the plunger 34 at a designated position to separate the connecting rod 33 from the body 32 and use the body 32 .

[0124] In a preferred embodiment, the sleeve storage mechanism 11 comprises: a bottom plate 111 and a sleeve support 112;

[0125] The sleeve support 112 is fixed on the upper surface of the bottom plate 111, and the sleeve support 112 is used to place the sleeve 3;

[0126] At least one sleeve support 112 is arranged in a matrix on the base plate 111 .

[0127] In this example, a base plate 111 is provided to support a sleeve support 112, and the sleeve support 112 is provided to ensure that the sleeve 3 can be stably placed on the base plate 111, wherein the sleeve support 112 has a groove, and the groove matches the bottom contour of the sleeve 3 placed on the sleeve support 112, so that the sleeve 3 can be stably placed on the sleeve support 112.

[0128] Furthermore, the sleeve storage mechanism 11 further includes: a sensor support 113, a proximity switch 114, a base 115 and a foot 116;

[0129] The sensor support 113 is fixed on the bottom plate 111, and the proximity switch 114 is fixed on the sensor support 113. The proximity switch 114 corresponds to the sleeve support 112, and the proximity switch 114 is used to detect the sleeve 3 on the sleeve support 112;

[0130] The base 115 is connected to the lower surface of the bottom plate 111 , and the foot 116 is connected to the bottom end of the base 115 .

[0131] In this example, a sensing support 113 is provided on the bottom plate 111 and a proximity switch 114 is provided on the sensing support 113 to detect whether there is a sleeve 3 on the sleeve support 112;

[0132] If the proximity switch 114 recognizes that there is a sleeve 3 on the sleeve support 112, a sleeve 3 in place signal is generated;

[0133] If the sleeve changing device 2 grabs the sleeve 3 on the sleeve support 112 and moves it, the proximity switch 114 will recognize that there is no sleeve 3 on the sleeve support 112 and generate a sleeve 3 absence signal;

[0134] If the proximity switch 114 determines that the distance between the axis of the sleeve 3 and the axis of the sleeve support 112 exceeds 5 mm, it determines that the sleeve 3 is moved and generates a sleeve 3 absence signal.

[0135] In a preferred embodiment, the sleeve positioning mechanism 12 comprises: a positioning support seat 121;

[0136] The positioning support seat 121 is used to position the sleeve 3 on the sleeve storage mechanism 11;

[0137] The positioning support seat 121 has a positioning channel 122 and a side opening 123;

[0138] The positioning channel 122 is connected to the top and bottom of the positioning support seat 121; the sleeve 3 is inserted into the positioning channel 122, so that the positioning support seat 121 positions the sleeve 3;

[0139] The side opening 123 is located on a side of the positioning support seat 121 , and the side opening 123 is used to connect the positioning channel 122 with the outside from a side of the positioning channel 122 .

[0140] In this example, by providing the positioning channel 122, the sleeve 3 can be inserted into the positioning channel 122, and then the sleeve 3 is positioned; wherein the connecting rod 33 of the sleeve 3 is inserted into the positioning channel 122. By providing the side opening 123, the sleeve 3 located in the positioning channel 122, that is, the connecting rod 33 of the sleeve 3 can pass through the side opening 123 and move from the positioning channel 122 to the outside.

[0141] Furthermore, the positioning adjustment mechanism 13 includes: a movable plate 131 and a power device 132;

[0142] The movable plate 131 is located above the bottom plate 111 of the sleeve storage mechanism 11, and the movable plate 131 has a U-shaped hole 133, and the U-shaped hole 133 connects the upper surface and the lower surface of the movable plate 131;

[0143] The axis of the positioning channel 122 is consistent with the axis of the U-shaped hole 133, and the positioning support seat 121 is fixed on the upper surface of the movable plate 131;

[0144] The power device 132 is fixed on the bottom plate 111 of the sleeve storage mechanism 11 , and the power device 132 is connected to the movable plate 131 . The power device 132 is used to adjust the distance between the movable plate 131 and the bottom plate 111 in the vertical direction.

[0145] In this example, by setting a U-shaped hole 133, the connecting rod 33 of the sleeve 3 can pass through the U-shaped hole 133 and pass through the movable plate 131, wherein the positioning channel 122 corresponds to the U-shaped hole 133, and the outer opening of the U-shaped hole 133 corresponds to the side opening 123 of the positioning support seat 121, so that the connecting rod 33 of the sleeve 3 located in the U-shaped hole 133 and the positioning channel 122 can move to the outside through the side opening 123 and the outer opening.

[0146] Furthermore, the power equipment 132 includes: a transition plate 1321, a cylinder 1322, a floating joint 1323, an exhaust speed regulating valve 1324 and an oil pressure buffer 1325;

[0147] The transition plate is fixed on the bottom plate 111 of the sleeve storage mechanism 11, the cylinder 1322 is fixed on the transition plate 1321, and the cylinder 1322 rod of the cylinder 1322 is connected to the movable plate 131 through the floating joint 1323;

[0148] The exhaust speed regulating valve 1324 is connected to the cylinder 1322;

[0149] The oil pressure buffer 1325 is fixed on the movable plate 131 , and the oil pressure buffer 1325 is used to buffer the sleeve 3 located below the movable plate 131 .

[0150] In this example, a transition plate is provided to share the pressure brought by the cylinder 1322 and prevent the cylinder 1322 from directly contacting the bottom plate 111, thereby ensuring that the cylinder 1322 will not damage the bottom plate 111 during operation.

[0151] The floating joint 1323 is a common mechanical connector. The floating joint 1323 is provided to allow the cylinder 1322 rod of the cylinder 1322 and the movable plate 131 to move relative to each other within a certain range, so that the two connected parts can move relative to each other within a certain range, thereby avoiding stress concentration and damage caused by factors such as temperature changes and mechanical vibrations.

[0152] The exhaust speed regulating valve 1324 is provided to control the flow rate of the gas when the cylinder 1322 is exhausted, so as to prevent the cylinder 1322 from exhausting too quickly and causing the movable plate 131 to impact other parts.

[0153] The function of the hydraulic buffer 1325 is to reduce vibration and noise in the operation of automated machinery, convert the kinetic energy generated by the moving object into heat energy and release it into the atmosphere, and effectively stop the object in balance during the operation. Therefore, once the downward movement stroke of the cylinder 1322 rod of the cylinder 1322 is too long, the hydraulic buffer 1325 will contact the sleeve 3 and absorb the impact force of the movable plate 131 moving toward the sleeve 3, preventing the movable plate 131 from directly contacting the sleeve 3 and causing damage to the sleeve 3 or the movable plate 131.

[0154] Furthermore, the positioning adjustment mechanism 13 also includes: a guide structure 134 and a limiting structure 135;

[0155] The guide structure 134 is connected to the movable plate 131 and the bottom plate 111 of the sleeve storage mechanism 11, and the guide structure 134 is used to limit the moving direction of the movable plate 131 to the vertical direction;

[0156] The limiting structure 135 is connected to the guiding structure 134 and the movable plate 131 , and the limiting structure 135 is used to limit the moving range of the movable plate 131 .

[0157] In this example, the moving direction of the movable plate 131 is limited by setting the guide structure 134, thereby ensuring the reliability of the device; the moving range of the movable plate 131 is limited by the limiting structure 135, thereby ensuring the safety of the device.

[0158] Specifically, the guide structure 134 includes: an oil-free bushing 1341, a guide support seat 1342 and a guide shaft 1343;

[0159] The oil-free bushing 1341 is fixed on the movable plate 131 , and the oil-free bushing 1341 communicates with the upper surface and the lower surface of the movable plate 131 ;

[0160] The guide support seat 1342 is fixed on the bottom plate 111 of the sleeve storage mechanism 11;

[0161] The top end of the guide shaft 1343 passes through the oil-free bushing 1341 , and the bottom end of the guide shaft 1343 is connected to the guide support seat 1342 .

[0162] In this example, the oil-free bushing 1341 is also called a self-lubricating bearing, which is a novel lubricating bearing that has the characteristics of a metal bearing and an oil-free lubricated bearing. It is basically a metal bearing that bears the load, and a specially formulated solid lubricating material has an air lubrication effect. It has the characteristics of high load-bearing capacity, impact resistance, high temperature resistance, and strong self-lubricating ability. Therefore, by setting the oil-free bushing 1341, the movable plate 131 can slide on the guide shaft 1343 through the oil-free bushing 1341.

[0163] Specifically, two or more guide structures 134 are respectively connected to the movable plate 131 and the bottom plate 111;

[0164] The limiting structure 135 includes: a limiting rod 1351 and a limiting bolt 1352;

[0165] The two ends of the limiting rod 1351 are respectively connected to the top ends of any two guiding structures 134 among two or more guiding structures 134;

[0166] The limiting bolt 1352 is connected to the movable plate 131 , and the limiting bolt 1352 is used to limit the moving range of the movable plate 131 by contacting the limiting rod 1351 .

[0167] In this example, by setting a limiting bolt 1352 on the limiting rod 1351 and making the limiting bolt 1352 contact the movable plate 131 , the contact area between the movable plate 131 and the limiting structure 135 is reduced to minimize the impact on the movable plate 131 .

[0168] In a preferred embodiment, the sleeve replacement device 2 further includes: a retaining ring 25, a sealing ring 26, a connecting tube 27 and a pressing block 28;

[0169] The retaining spring 25 is fixed to the top of the inner side of the fixing ring 23, and the retaining spring 25 is used to prevent the spring 24 from moving upward along the axial direction of the fixing ring 23;

[0170] The bottom end of the connecting tube 27 is connected to the top end of the fixing ring 23, and the connecting tube 27 is used to connect to the manipulator;

[0171] The sealing ring 26 is located between the fixing ring 23 and the connecting tube 27;

[0172] The pressing block 28 is located between the steel ball 22 and the bottom end of the cylinder 21 and is fixed on the side wall of the clamping channel 211 . The pressing block 28 is used to clamp the connecting rod 33 located in the clamping channel 211211 .

[0173] In this example, a retaining ring 25 is provided to prevent the spring 24 from detaching from the fixing ring 23; a connecting tube 27 is provided to facilitate the connection between the manipulator and the sleeve replacement device 2; and a sealing ring 26 is provided to prevent external moisture and oil from entering the clamping channel 211 through the gap between the fixing ring 23 and the connecting tube 27, thereby preventing the clamping channel 211 and the sleeve 3 from being contaminated.

[0174] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0175] Those skilled in the art will readily come to other embodiments of the present application embodiments after considering the specification and practicing the invention disclosed herein. The present application embodiments are intended to cover any variations, uses or adaptations of the present application embodiments, which follow the general principles of the present application embodiments and include common knowledge or customary technical means in the art that are not disclosed in the present application embodiments. The specification and embodiments are intended to be exemplary only, and the true scope and spirit of the present application embodiments are indicated by the following claims.

[0176] It should be understood that the embodiments of the present application are not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from the scope thereof. The scope of the embodiments of the present application is limited only by the appended claims.

Claims

1. A sleeve replacement system, characterized in that: Used to grab a sleeve with a large outer diameter and move the sleeve to a specified position; The sleeve replacement system comprises: a sleeve storage device and a sleeve replacement device; The sleeve storage device is used to store at least one sleeve; The sleeve replacement device is connected to a manipulator, and the sleeve replacement device is used to grab the sleeve in the sleeve storage device; the manipulator is used to move the sleeve to a specified position through the sleeve replacement device; The sleeve storage device comprises: a sleeve storage mechanism, a sleeve positioning mechanism and a positioning adjustment mechanism; The sleeve storage mechanism is used to store the sleeve; The sleeve positioning mechanism is located above the sleeve storage mechanism, and the sleeve positioning mechanism is used to position the sleeve on the sleeve storage mechanism; The positioning adjustment mechanism is connected to the sleeve positioning mechanism, and the positioning adjustment mechanism is used to adjust the distance between the sleeve positioning mechanism and the sleeve storage mechanism in the vertical direction; The sleeve replacement device comprises: a cylinder, a steel ball, a fixing ring and a spring; one end of the sleeve has an annular groove; The cylinder has a clamping channel, the clamping channel connects the top end and the bottom end of the cylinder, and one end of the sleeve having the annular groove is inserted into the clamping channel from the bottom end of the cylinder; The steel ball is connected to the side wall of the clamping channel, and the steel ball is used to be inserted into the annular groove of the cylinder body so that the sleeve replacement device can grab the sleeve; The bottom end of the fixing ring is connected to the top end of the cylinder, the spring is located inside the fixing ring and is coaxially connected to the fixing ring, and the spring is used to apply pressure to the sleeve inserted into the clamping channel to make the sleeve detach from the sleeve replacement device.

2. The sleeve replacement system according to claim 1, characterized in that: The sleeve storage mechanism comprises: a bottom plate and a sleeve support; The sleeve support is fixed on the upper surface of the bottom plate, and the sleeve support is used to place the sleeve; At least one sleeve support is arranged in a matrix on the base plate.

3. The sleeve replacement system according to claim 2, characterized in that: The sleeve storage mechanism also includes: a sensor support, a proximity switch, a base and a foot; The sensor support is fixed on the bottom plate, the proximity switch is fixed on the sensor support, the proximity switch corresponds to the sleeve support, and the proximity switch is used to detect the sleeve on the sleeve support; The base is connected to the lower surface of the bottom plate, and the foot is connected to the bottom end of the base.

4. The sleeve replacement system according to claim 1, characterized in that: The sleeve positioning mechanism comprises: a positioning support seat; The positioning support seat is used to position the sleeve on the sleeve storage mechanism; The positioning support seat has a positioning channel and a side opening; The positioning channel is connected to the top and bottom of the positioning support seat; the sleeve is inserted into the positioning channel so that the positioning support seat positions the sleeve; The side opening is located on a side of the positioning support seat, and the side opening is used to connect the positioning channel with the outside world from the side of the positioning channel.

5. The sleeve replacement system according to claim 4, characterized in that: The positioning adjustment mechanism includes: a movable plate and a power device; The movable plate is located above the bottom plate of the sleeve storage mechanism, and the movable plate has a U-shaped hole, and the U-shaped hole connects the upper surface and the lower surface of the movable plate; The axis of the positioning channel is consistent with the axis of the U-shaped hole, and the positioning support seat is fixed on the upper surface of the movable plate; The power device is fixed on the bottom plate of the sleeve storage mechanism, the power device is connected to the movable plate, and the power device is used to adjust the distance between the movable plate and the bottom plate in the vertical direction.

6. The sleeve replacement system according to claim 5, characterized in that: The power equipment includes: a transition plate, a cylinder, a floating joint, an exhaust speed regulating valve and an oil pressure buffer; The transition plate is fixed on the bottom plate of the sleeve storage mechanism, the cylinder is fixed on the transition plate, and the cylinder rod of the cylinder is connected to the movable plate through the floating joint; The exhaust speed regulating valve is connected to the cylinder; The oil pressure buffer is fixed on the movable plate, and the oil pressure buffer is used for buffering the sleeve located below the movable plate.

7. The sleeve replacement system according to claim 5, characterized in that: The positioning adjustment mechanism also includes: a guiding structure and a limiting structure; The guide structure is connected to the movable plate and the bottom plate of the sleeve storage mechanism, and the guide structure is used to limit the moving direction of the movable plate to the vertical direction; The limiting structure is connected to the guiding structure and the movable plate, and the limiting structure is used to limit the moving range of the movable plate.

8. The sleeve replacement system according to claim 7, characterized in that: The guide structure comprises: an oil-free bushing, a guide support seat and a guide shaft; The oil-free bushing is fixed on the movable plate, and the oil-free bushing is connected with the upper surface and the lower surface of the movable plate; The guide support seat is fixed on the bottom plate of the sleeve storage mechanism; The top end of the guide shaft passes through the oil-free bushing, and the bottom end of the guide shaft is connected to the guide support seat.

9. The sleeve replacement system according to claim 7, characterized in that: Two or more guide structures are connected to the movable plate and the bottom plate respectively; The limiting structure comprises: a limiting rod and a limiting bolt; The two ends of the limit rod are respectively connected to the top ends of any two guide structures among the two or more guide structures; The limiting bolt is connected to the movable plate, and the limiting bolt is used to limit the moving range of the movable plate by contacting with the limiting rod.

10. The sleeve replacement system according to claim 1, characterized in that: The sleeve replacement device also includes: a retaining spring, a sealing ring, a connecting sleeve and a pressing block; The retaining spring is fixed to the top of the inner side of the fixing ring, and the retaining spring is used to prevent the spring from moving upward along the axial direction of the fixing ring; The bottom end of the connecting tube is connected to the top end of the fixing ring, and the connecting tube is used to connect to the manipulator; The sealing ring is located between the fixing ring and the connecting tube; The pressing block is located between the steel ball and the bottom end of the cylinder and is fixed on the side wall of the clamping channel. The pressing block is used to clamp the connecting rod located in the clamping channel.

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