A sleeve changing system

Abstract

The application provides a sleeve replacement system for grabbing a large-outer-diameter sleeve and moving 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 for storing at least one sleeve; the sleeve replacement device is connected with a mechanical hand, and the sleeve replacement device is used for grabbing the sleeve in the sleeve storage device; the mechanical hand is used for moving the sleeve to the 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 replacement device comprises a cylinder body, a steel ball, a fixing ring and a spring; one end of the sleeve has an annular groove. The sleeve replacement system grabs the sleeve stored in the sleeve storage device through the sleeve replacement device, and transfers the grabbed sleeve to a specified position, so that the sleeve is automatically grabbed, the manual carrying and replacement of the sleeve are avoided, and the carrying and replacement efficiency of the sleeve is improved.

Description

Technical Field

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

[0002] A sleeve is a common mechanical part used to tighten or loosen screws, or to connect two independent parts. In the assembly and manufacturing industry, large-diameter sleeves are often used for part installation or connection for equipment assembly. Currently, large-diameter sleeves are usually moved to a designated position manually.

[0003] However, the inventors discovered that because the sleeve with a large outer diameter is heavy, long-term manual handling and replacement usually leads to low handling and replacement efficiency, excessive worker fatigue, and consequently, low equipment assembly efficiency. Summary of the Invention

[0004] This application provides a sleeve replacement system to solve the current problem that, due to the large weight of large-diameter sleeves, long-term manual handling and replacement usually results in low handling and replacement efficiency, excessive worker fatigue, and consequently low equipment assembly efficiency.

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

[0006] The sleeve replacement system includes: 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 changing device is connected to the robotic arm, and the sleeve changing device is used to grab sleeves from the sleeve storage device; the robotic arm is used to move the sleeves to a designated position via the sleeve changing device;

[0009] The sleeve storage device includes: 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 vertical distance between the sleeve positioning mechanism and the sleeve storage mechanism.

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

[0014] The cylinder has a clamping channel that connects the top and bottom ends of the cylinder, and the sleeve has an annular groove at one end that 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 is used to insert into the annular groove of the cylinder so that the sleeve changing 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. The spring is used to apply pressure to the sleeve inserted into the clamping channel, so that the sleeve is disengaged from the sleeve replacement device.

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

[0018] The sleeve support is fixed to the upper surface of the base 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 includes: a sensor support, a proximity switch, a base, and feet;

[0021] The sensing support is fixed on the base plate, the proximity switch is fixed on the sensing 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 base plate, and the feet are connected to the bottom end of the base.

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

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

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

[0026] The positioning channel connects the top and bottom ends of the positioning support; the sleeve is inserted into the positioning channel so that the positioning support positions the sleeve.

[0027] The side opening is located on the side of the positioning support, and the side opening is used to connect the positioning channel to the outside 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. The movable plate has a U-shaped hole that connects the upper surface and the lower surface of the movable plate.

[0030] The axis of the positioning channel is aligned with the axis of the U-shaped hole, and the positioning support is fixed to the upper surface of the movable plate.

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

[0032] In the above scheme, the power equipment includes: a transition plate, a cylinder, a floating joint, an exhaust speed control valve, and a hydraulic damper;

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

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

[0035] The hydraulic damper is fixed to the movable plate and is used to buffer the sleeve located below the movable plate.

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

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

[0038] The limiting structure is connected to the guide structure and the movable plate, and the limiting structure is used to limit the movement 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 to the movable plate, and the oil-free bushing connects the upper surface and the lower surface of the movable plate;

[0041] The guide support is fixed to the base 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.

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

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

[0045] The two ends of the limiting rod are respectively connected to the top ends of any two of 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 movement range of the movable plate by contacting the limiting rod.

[0047] In the above scheme, the sleeve replacement device further includes: a retaining ring, a sealing ring, a connecting cylinder, and a pressure block;

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

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

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

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

[0052] This application provides a sleeve changing system that connects a sleeve changing device to a robotic arm. The robotic arm uses the sleeve changing device to grab sleeves stored in a sleeve storage device and transfers the grabbed sleeves to a designated position, thereby achieving the technical effect of automatically grabbing sleeves. Therefore, by using a robotic arm to grab sleeves to a designated position through the sleeve changing device, manual handling and sleeve replacement are avoided, excessive worker fatigue is prevented, and the efficiency of sleeve handling and replacement is improved, thereby improving equipment assembly efficiency. Attached Figure Description

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

[0054] Figure 1 This application provides a three-dimensional structural schematic diagram of a sleeve replacement system.

[0055] Figure 2 A front view structural diagram of a sleeve replacement system provided in this application;

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

[0057] Figure label:

[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 and adjustment mechanism;

[0064] 21: Cylinder body;

[0065] 22: Steel ball;

[0066] 23: Retaining ring;

[0067] 24: Spring;

[0068] 25: Snap ring;

[0069] 26: Sealing ring;

[0070] 27: Connecting cylinder;

[0071] 28: Pressed block;

[0072] 111: Base plate;

[0073] 112: Sleeve support;

[0074] 113: Sensor support;

[0075] 114: Proximity switch;

[0076] 115: Base;

[0077] 116: Foot;

[0078] 121: Positioning support;

[0079] 122: Positioning channel;

[0080] 123: Side opening;

[0081] 131: Activity board;

[0082] 132: Power equipment;

[0083] 133: U-shaped hole;

[0084] 134: Guiding structure;

[0085] 135: Limiting structure;

[0086] 1321: Transition plate;

[0087] 1322: Cylinder;

[0088] 1323: Floating joint;

[0089] 1324: Exhaust speed control valve;

[0090] 1325: Hydraulic shock absorber;

[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 accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0102] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.

[0103] The technical solutions of the embodiments of this application and how the technical solutions of the embodiments of this application solve the current problems are described in detail below with specific examples. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0104] Please see Figures 1-3 This application provides a sleeve replacement system for gripping a sleeve 3 with a large outer diameter and moving the sleeve 3 to a designated position;

[0105] The sleeve replacement system includes: 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 changing device 2 is connected to the robotic arm, and the sleeve changing device 2 is used to grab the sleeve 3 in the sleeve storage device 1; the robotic arm is used to move the sleeve 3 to a designated position through the sleeve changing device 2.

[0108] The sleeve storage device 1 includes: 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 vertical distance between the sleeve positioning mechanism 12 and the sleeve storage mechanism 11.

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

[0113] The cylinder 21 has a clamping channel 211, which connects the top and bottom ends of the cylinder 21. The sleeve 3 has an annular groove 31 at one end, which is inserted into the clamping channel 211 from the bottom end of the cylinder 21.

[0114] The steel ball 22 is connected to the side wall of the clamping channel 211. The steel ball 22 is used to insert into the annular groove 31 of the cylinder 21 so that the sleeve replacement device 2 can grab 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. The spring 24 is used to apply pressure to the sleeve 3 inserted into the clamping channel 211, so that the sleeve 3 is disengaged from the sleeve replacement device 2.

[0116] In this example, the sleeve 3 is a large-diameter, multi-variety sleeve 3. The sleeve 3 includes a body 32 and a connecting rod 33. The body 32 of the sleeve 3 is used to realize the function of the sleeve 3. The connecting rod 33 is used to be gripped by the sleeve changing device 2. The connecting rod 33 is connected to the top of the body 32. The end of the connecting rod 33 away from the body 32 has the annular groove 31. The connecting rod 33 is connected to the body 32 by a plunger 34. The bottom end of the connecting rod 33 is inserted into the body 32. The plunger 34 is perpendicular to the connecting rod 33. One end of the plunger 34 passes through the body 32 and the connecting rod 33, so that the body 32 and the connecting rod 33 are connected to each other.

[0117] The sleeve changing device 2 is connected to the robot arm. The robot arm uses the sleeve changing device 2 to grab the sleeve 3 stored in the sleeve storage device 1 and transfer the grabbed sleeve 3 to a designated position to achieve the technical effect of automatically grabbing the sleeve 3. The designated position is used for replacing and installing the sleeve 3.

[0118] Therefore, by using a robotic arm to grab the sleeve 3 to the designated position through the sleeve changing device 2, the manual handling and replacement of the sleeve 3 is avoided, the excessive fatigue of workers is prevented, and the handling and replacement efficiency of the sleeve 3 is improved, thereby improving the equipment assembly efficiency.

[0119] By setting up a sleeve storage mechanism 11 to place the sleeve 3, and setting up a sleeve positioning mechanism 12 to position the sleeve 3, the sleeve 3 is prevented from shaking or tipping over. By setting up a positioning adjustment mechanism 13 to adjust the vertical distance between the sleeve positioning mechanism 12 and the sleeve storage mechanism 11, the sleeve storage mechanism 11 can store sleeves 3 of different heights, thus expanding the applicability of the sleeve storage mechanism 11.

[0120] By providing a cylinder 21 in the sleeve changing device 2, the sleeve 3 can be inserted into the cylinder 21; wherein, the connecting rod 33 of the sleeve 3 is inserted into the clamping channel 211 of the cylinder 21; by providing a 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 enabling the sleeve changing device 2 to clamp the sleeve 3 by inserting the steel ball 22 into the annular groove 31.

[0121] By setting a spring 24 to apply pressure to the sleeve 3 in the gripping channel 211, the sleeve 3 is ejected from the cylinder 21. Specifically, after the sleeve 3 is gripped to the designated position, the robot applies pressure to the sleeve changing device 2, causing the steel ball 22 to disengage from the annular groove 31 and contact the side wall of the connecting rod 33. At the same time, by applying pressure to the sleeve changing device 2, the robot will cause the connecting rod 33 to contact the spring 24 and compress the spring 24. When the robot removes the pressure applied to the sleeve changing device 2, the compressed spring 24 will apply pressure to the connecting rod 33, causing the connecting rod 33 to disengage from the cylinder 21. During this process, the steel ball 22 will re-enter the annular groove 31, but as the spring 24 applies pressure to the connecting rod 33, the connecting rod 33 will continue to move out of the gripping channel 211 at a high speed, causing the steel ball 22 to disengage from the annular groove 31 again, thereby achieving the technical effect of the sleeve 3 disengaging from the cylinder 21.

[0122] The spring 24 is secured by a retaining ring 23, ensuring its stability.

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

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

[0125] The sleeve support 112 is fixed on the upper surface of the base 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 set to support the sleeve support 112. The sleeve support 112 ensures that the sleeve 3 can be stably placed on the base plate 111. The sleeve support 112 has a groove that 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 also includes: a sensor support 113, a proximity switch 114, a base 115, and a foot 116;

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

[0130] The base 115 is connected to the lower surface of the base 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 base 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 detects that the sleeve 3 is on the sleeve support 112, a sleeve 3 presence signal is generated;

[0133] If the sleeve replacement device 2 grabs the sleeve 3 on the sleeve support 112 and moves it, the proximity switch 114 will detect that there is no sleeve 3 on the sleeve support 112 and generate a sleeve 3 missing 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 5mm, it determines that the sleeve 3 has been moved and generates a sleeve 3 missing signal.

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

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

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

[0138] The positioning channel 122 connects the top and bottom ends of the positioning support 121; the sleeve 3 is inserted into the positioning channel 122 so that the positioning support 121 positions the sleeve 3.

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

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

[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. The movable plate 131 has a U-shaped hole 133, which connects the upper surface and the lower surface of the movable plate 131.

[0143] The axis of the positioning channel 122 is aligned with the axis of the U-shaped hole 133, and the positioning support 121 is fixed to the upper surface of the movable plate 131.

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

[0145] In this example, by setting a U-shaped hole 133, the connecting rod 33 of the sleeve 3 can pass through the movable plate 131 through the U-shaped hole 133. 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 121. This allows the connecting rod 33 of the sleeve 3 located in the U-shaped hole 133 and the positioning channel 122 to 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 a hydraulic buffer 1325;

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

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

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

[0150] In this example, by setting an intermediate plate to share the pressure brought by the cylinder 1322 and avoiding direct contact between the cylinder 1322 and the base plate 111, it is ensured that the cylinder 1322 will not damage the base plate 111 when it is working.

[0151] The floating joint 1323 is a common mechanical connector. By setting the floating joint 1323, the cylinder rod of the cylinder 1322 and the movable plate 131 can 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 vibration.

[0152] By setting an exhaust speed control valve 1324 to control the gas flow rate of cylinder 1322 during exhaust, the excessive exhaust speed of cylinder 1322 is prevented from causing the movable plate 131 to impact other parts.

[0153] The function of the hydraulic damper 1325 is to reduce vibration and noise in automated mechanical operations, 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 operation. Therefore, if the downward stroke of the cylinder rod of cylinder 1322 is too long, the hydraulic damper 1325 will contact the sleeve 3 and absorb the impact force of the moving plate 131 moving towards the sleeve 3, preventing the moving plate 131 from directly contacting the sleeve 3 and causing damage to the sleeve 3 or the moving 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 base plate 111 of the sleeve storage mechanism 11. The guide structure 134 is used to limit the movement direction of the movable plate 131 to the vertical direction.

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

[0157] In this example, the moving direction of the movable plate 131 is limited by the guide structure 134, which ensures the reliability of the device; the moving range of the movable plate 131 is limited by the limiting structure 135, which ensures 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 connects the upper surface and the lower surface of the movable plate 131.

[0160] The guide support 1342 is fixed on the base 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 1342.

[0162] In this example, the oilless bushing 1341, also known as a self-lubricating bearing, is a novel lubricating bearing that combines the characteristics of metal bearings and oilless lubricating bearings. The load is borne by the metal base, and the special formula of solid lubricating material provides gas lubrication. It has the characteristics of high load-bearing capacity, impact resistance, high temperature resistance, and strong self-lubricating ability. Therefore, by setting the oilless bushing 1341, the movable plate 131 can slide on the guide shaft 1343 through the oilless bushing 1341.

[0163] Specifically, two or more of the guide structures 134 are respectively connected to the movable plate 131 and the base 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 guide structures 134 among two or more guide structures 134.

[0166] The limiting bolt 1352 is connected to the movable plate 131, and the limiting bolt 1352 is used to limit the movement 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 by setting the limiting bolt 1352 to contact the movable plate 131, the contact area between the movable plate 131 and the limiting structure 135 is reduced, so as 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 cylinder 27, and a pressure block 28;

[0169] The retaining ring 25 is fixed to the top of the inner side of the fixing ring 23, and the retaining ring 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 cylinder 27 is connected to the top end of the fixing ring 23, and the connecting cylinder 27 is used to connect with the robot arm;

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

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

[0173] In this example, by setting a retaining ring 25, the spring 24 is prevented from detaching from the retaining ring 23; by setting a connecting cylinder 27, the robot arm can be connected to the sleeve changing device 2; by setting a sealing ring 26, external moisture and oil are prevented from entering the gripping channel 211 through the gap between the retaining ring 23 and the connecting cylinder 27, thereby preventing the gripping channel 211 and the sleeve 3 from being contaminated.

[0174] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0175] Other embodiments of the present application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. The embodiments of this application are intended to cover any variations, uses, or adaptations of the embodiments of this application that follow the general principles of the embodiments of this application and include common knowledge or customary techniques in the art not disclosed in the embodiments of this application. The specification and embodiments are to be considered exemplary only, and the true scope and spirit of the embodiments of this application are indicated by the following claims.

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

Claims

1. A sleeve replacement system, characterized in that, Used to grip a sleeve with a large outer diameter and move the sleeve to a designated position; The sleeve replacement system includes: a sleeve storage device and a sleeve replacement device; The sleeve storage device is used to store at least one sleeve; The sleeve changing device is connected to the robotic arm, and the sleeve changing device is used to grab sleeves from the sleeve storage device; the robotic arm is used to move the sleeves to a designated position via the sleeve changing device; The sleeve storage device includes: 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 vertical distance between the sleeve positioning mechanism and the sleeve storage mechanism. The sleeve replacement device includes: a sleeve body, a steel ball, a retaining ring, and a spring; one end of the sleeve has an annular groove; The cylinder has a clamping channel that connects the top and bottom ends of the cylinder, and the sleeve has an annular groove at one end that 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 is used to insert into the annular groove of the cylinder so that the sleeve changing 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. The spring is used to apply pressure to the sleeve inserted into the clamping channel, so that the sleeve is disengaged from the sleeve replacement device. The sleeve positioning mechanism includes: a positioning support base; The positioning support is used to position the sleeve on the sleeve storage mechanism; The positioning support has a positioning channel and a side opening; The positioning channel connects the top and bottom ends of the positioning support; the sleeve is inserted into the positioning channel so that the positioning support positions the sleeve. The side opening is located on the side of the positioning support, and the side opening is used to connect the positioning channel to the outside from the side of the positioning channel; The positioning adjustment mechanism includes: a movable plate and a power unit; The movable plate is located above the bottom plate of the sleeve storage mechanism. The movable plate has a U-shaped hole that connects the upper surface and the lower surface of the movable plate. The axis of the positioning channel is aligned with the axis of the U-shaped hole, and the positioning support is fixed to the upper surface of the movable plate. The power device is fixed to the base plate of the sleeve storage mechanism, and the power device is connected to the movable plate. The power device is used to adjust the vertical distance between the movable plate and the base plate. The sleeve includes a body and a connecting rod. The body is used to realize the function of the sleeve, and the connecting rod is used to be gripped by the sleeve changing device. The connecting rod is connected to the top end of the body, and the end of the connecting rod away from the body has the annular groove. The connecting rod is connected to the body by a plunger.

2. The sleeve replacement system according to claim 1, characterized in that, The sleeve storage mechanism includes: a base plate and a sleeve support; The sleeve support is fixed to the upper surface of the base 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 feet; The sensing support is fixed on the base plate, the proximity switch is fixed on the sensing 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 base plate, and the feet are connected to the bottom end of the base.

4. The sleeve replacement system according to claim 1, characterized in that, The power equipment includes: a transition plate, a cylinder, a floating joint, an exhaust speed control valve, and a hydraulic damper; The transition plate is fixed to the base plate of the sleeve storage mechanism, the cylinder is fixed to the transition plate, and the cylinder rod of the cylinder is connected to the movable plate through the floating joint. The exhaust speed control valve is connected to the cylinder; The hydraulic damper is fixed to the movable plate and is used to buffer the sleeve located below the movable plate.

5. The sleeve replacement system according to claim 1, characterized in that, The positioning adjustment mechanism further includes: a guide structure and a limiting structure; The guide structure is connected to the base plate of the movable plate and the sleeve storage mechanism, and the guide structure is used to limit the movement direction of the movable plate to the vertical direction; The limiting structure is connected to the guide structure and the movable plate, and the limiting structure is used to limit the movement range of the movable plate.

6. The sleeve replacement system according to claim 5, characterized in that, The guide structure includes: an oil-free bushing, a guide support seat, and a guide shaft; The oil-free bushing is fixed to the movable plate, and the oil-free bushing connects the upper surface and the lower surface of the movable plate; The guide support is fixed to the base 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.

7. The sleeve replacement system according to claim 5, characterized in that, Two or more of the guide structures are respectively connected to the movable plate and the base plate; The limiting structure includes: a limiting rod and a limiting bolt; The two ends of the limiting rod are respectively connected to the top ends of any two of the two or more guide structures; The limiting bolt is connected to the movable plate, and the limiting bolt is used to limit the movement range of the movable plate by contacting the limiting rod.

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

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