Automatic sleeve switching device

Abstract

The utility model discloses an automatic sleeve switching device which comprises a robot provided with a sleeve adapter; a base; the first driving mechanism is arranged on the base; the adapter adjusting mechanism is arranged on the base and connected with the first driving mechanism so as to ascend and descend relative to the base under the driving of the first driving mechanism, and a sleeve adapter arranged on the robot is unlocked and locked; the positioning mechanism is arranged on the base and located below the adapter adjusting mechanism; the positioning mechanism is provided with a plurality of sleeve containing positions which are arranged in parallel in the horizontal direction. The second driving mechanism is arranged on the base; the clamping mechanism is arranged on the base and connected with the second driving mechanism; and the clamping mechanism is used for reciprocating among the plurality of sleeve accommodating positions under the driving of the second driving mechanism so as to clamp and loosen the sleeves. By means of the characteristic that the robot can freely move in multiple directions, automatic switching of the sleeves can be achieved, bolt operation can be conducted on different tightening points, and flexibility of the whole structure is improved.

Description

Technical Field

[0001] The present application relates to the technical field of automobile automation equipment, and in particular to an automatic sleeve switching device. Background Art

[0002] In the manufacture of automobile engines, it is usually necessary to use a socket adapter to connect the socket and then tighten the bolts of the engine through the socket. Due to the different sizes and types of bolts, different specifications of sockets need to be switched in production, but manual switching of sockets is inefficient.

[0003] In order to improve efficiency, the prior art has proposed a utility model patent with authorization announcement number CN204565598U: a double-sleeve automatic switching mechanism to achieve automatic switching of the sleeve; it is a device that selects and switches the sleeve through the combined action of fixed parts such as motors, cylinder drives, and gear transmissions, but it can only adapt to the bolt specifications of fixed tightening point positions, resulting in low flexibility of the overall structure. Utility Model Content

[0004] The purpose of the present application is to provide an automatic sleeve switching device to solve the technical problem in the related art that the sleeve switching mechanism can only adapt to the bolt specifications of the fixed tightening point position, resulting in low flexibility of the overall structure.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] A sleeve automatic switching device, comprising:

[0007] A robot; a sleeve adapter is provided on the robot;

[0008] Pedestal;

[0009] A first driving mechanism is disposed on the base;

[0010] The adapter adjustment mechanism is arranged on the base and connected to the first driving mechanism; the adapter adjustment mechanism is used to be driven by the first driving mechanism to rise and fall relative to the base to unlock and lock the sleeve adapter;

[0011] The positioning mechanism is arranged on the base and is located below the adapter adjustment mechanism; the positioning mechanism has a plurality of sleeve accommodating positions arranged in parallel in the horizontal direction;

[0012] A second driving mechanism is disposed on the base;

[0013] The clamping mechanism is arranged on the base and connected to the second driving mechanism; the clamping mechanism is used to reciprocate between a plurality of sleeve accommodating positions under the drive of the second driving mechanism to clamp and release the sleeve.

[0014] According to the above-mentioned technical means, multiple sleeves of different specifications or the same specifications can be stored in the base at the same time. After the sleeve adapter is unlocked or locked by the adapter adjustment mechanism, the sleeve can be transported to the sleeve accommodating position for storage or taken out from the sleeve accommodating position by the robot, so as to store, replace and tighten and assemble the bolts. Taking advantage of the characteristic that the robot can move freely in all directions, the automatic sleeve switching device of the present application can not only realize the automatic switching of the sleeve, but also can perform bolt tightening operations on different tightening points with different bolt specifications, thereby improving the flexibility of the overall structure.

[0015] Further, the positioning mechanism comprises:

[0016] A plurality of positioning blocks are arranged in sequence above the clamping mechanism in the horizontal direction; the sleeve receiving position penetrates the positioning blocks in the up-down direction; when the sleeve is located at the sleeve receiving position, a part of the sleeve extends downward to the moving path of the clamping mechanism.

[0017] According to the above technical means, when the robot carries the sleeve adapter and inserts the sleeve into the sleeve receiving position, the sleeve can be positioned through the sleeve receiving position, and the sleeve can be clamped by the clamping mechanism, thereby ensuring that the sleeve can be stored stably.

[0018] Furthermore, the positioning mechanism also includes:

[0019] The positioning pin is located below the clamping mechanism; the positioning pin is used to be inserted into the sleeve or to support the bottom wall of the sleeve.

[0020] According to the above technical means, the positioning pin can be inserted into the sleeve, or support the bottom wall of the sleeve to achieve support for the sleeve from the bottom end of the sleeve; then, the positioning pin cooperates with the positioning block to position the two areas of the sleeve, thereby improving the stability of the sleeve stored in the sleeve automatic switching device.

[0021] Furthermore, the positioning mechanism also includes:

[0022] A positioning cylinder is arranged on the base;

[0023] One end of the elastic member is connected to the positioning pin, and the other end extends into the positioning cylinder and is connected to the positioning cylinder.

[0024] According to the above technical means, when the robot switches the sleeve through the sleeve adapter, the sleeve adapter presses the sleeve downward, which can squeeze and deform the elastic part and make the positioning pin move downward, thereby compensating for the inconsistent movement coordination and improving the success rate of sleeve switching.

[0025] Furthermore, the positioning mechanism also includes:

[0026] A limit stopper, arranged on the positioning pin;

[0027] A limit hole is arranged on the positioning cylinder, and the limit stopper is located in the limit hole; in a natural state, the limit stopper contacts with the upper wall of the limit hole.

[0028] According to the above technical means, the limit stopper can move up and down with the lifting and lowering of the locating pin. When the limit hole limits the limit stopper up and down, the lifting height of the locating pin can be limited to ensure that the lifting range of the locating pin is within the upper and lower limit range.

[0029] Furthermore, the positioning mechanism also includes:

[0030] Two positioning tube clamping plates are relatively arranged on the base in an openable and closable manner; the positioning tube is located between the two positioning tube clamping plates.

[0031] According to the above technical means, the positioning cylinder can be moved upward or downward by opening and closing the positioning cylinder clamping plate, thereby adjusting the height of the positioning cylinder to achieve the height adjustment of the positioning pin, so that the positioning pin can be adaptively adjusted according to the height of sleeves of different specifications.

[0032] Further, the adapter adjustment mechanism includes:

[0033] The execution plate is movably arranged on the base; a plurality of slots are arranged on the execution plate, and the slots are connected to the sleeve receiving positions;

[0034] When the sleeve is located in the sleeve accommodating position, the sleeve adapter is located in the slot, and the positioning ring of the sleeve adapter is located on the moving path of the actuator plate, so as to be unlocked and locked under the drive of the actuator plate.

[0035] According to the above-mentioned technical means, when the robot carries the sleeve adapter and inserts the sleeve into the sleeve accommodating position, the actuator plate rises and supports the positioning ring to rise, thereby unlocking the sleeve adapter, so that the sleeve is detached from the sleeve adapter and retained in the sleeve accommodating position; when the robot carries the sleeve adapter and completes the docking with the sleeve in the sleeve accommodating position, the actuator plate rises and unlocks the sleeve adapter, so that the sleeve can be inserted into the sleeve adapter, completing the plug-in cooperation between the sleeve and the sleeve adapter, so that the robot can pull the sleeve out of the sleeve accommodating position.

[0036] Furthermore, the adapter adjustment mechanism also includes:

[0037] The limit assembly is arranged on the base and is partially located above the actuating plate; when the actuating plate rises to contact with the limit assembly, the sleeve adapter is unlocked.

[0038] According to the above technical means, the limit assembly can limit the rising height of the actuator plate; once the actuator plate rises to contact the limit assembly, it stops moving, and the sleeve adapter can be unlocked at the same time.

[0039] Further, the clamping mechanism comprises:

[0040] The mounting plate is arranged on the base and can slide back and forth in the horizontal direction;

[0041] Two clamping arms are disposed on the mounting plate;

[0042] The driver is connected with the two clamping arms and is used for driving the two clamping arms to move toward and away from each other so as to clamp and release the sleeve.

[0043] According to the above technical means, when the clamping mechanism moves to the sleeve accommodating position where the sleeve is to be stored under the drive of the second driving mechanism, the two clamping arms are controlled by the driver to move toward each other, so that the two clamping arms can clamp the sleeve from both sides of the sleeve, thereby clamping and positioning the sleeve.

[0044] Furthermore, the sleeve automatic switching device also includes:

[0045] The sleeve in-place detection mechanism is arranged on the clamping mechanism and is used to detect whether a sleeve is stored in the sleeve accommodating position; when the sleeve is in the sleeve accommodating position, the driver drives the two clamping arms to move toward each other.

[0046] Through the above technical means, when the sleeve enters the sleeve accommodating position, the sleeve in position detection mechanism can detect the sleeve, so that the two clamping arms clamp the sleeve under the drive of the driver.

[0047] Beneficial effects of this application:

[0048] (1) After the sleeve adapter is unlocked or locked by the adapter adjustment mechanism, the sleeve can be transported to the sleeve storage position for storage or taken out from the sleeve storage position by the robot, so as to store, replace, and tighten and assemble the bolt; by utilizing the characteristic that the robot can move freely in all directions, the sleeve automatic switching device of the present application can not only realize the automatic switching of the sleeve, but also can perform bolt tightening operations on different tightening points with different bolt specifications, thereby improving the flexibility of the overall structure.

[0049] (2) When the robot carries the sleeve adapter and inserts the sleeve into the sleeve receiving position, the sleeve can be positioned by the sleeve receiving position, and the sleeve can be clamped by the clamping mechanism. The positioning pin can be inserted into the sleeve or support the bottom wall of the sleeve to achieve support for the sleeve from the bottom end of the sleeve; then, the positioning pin, the positioning block and the clamping mechanism can cooperate with each other to position multiple areas of the sleeve, thereby ensuring that the sleeve can be stored stably. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 This is a first view of the automatic sleeve switching device in the embodiment of the present application;

[0051] Figure 2 is a second view of the automatic sleeve switching device in the embodiment of the present application;

[0052] Figure 3 is a schematic diagram of the overall structure of the sleeve adapter in the embodiment of the present application;

[0053] Figure 4 is an axial cross-sectional view of the sleeve adapter in the embodiment of the present application;

[0054] Figure 5 It is a schematic diagram of the assembly structure of the positioning block on the base in the embodiment of the present application;

[0055] Figure 6 is a structural schematic diagram of the adapter adjustment mechanism in an embodiment of the present application;

[0056] Figure 7 is a structural schematic diagram of the clamping mechanism in an embodiment of the present application;

[0057] Figure 8 is a schematic diagram of the assembly structure of the positioning pin on the base in an embodiment of the present application;

[0058] Fig. 9 It is a functional principle block diagram of the sleeve automatic switching device in the embodiment of the present application.

[0059] Among them, 1-base; 2-first driving mechanism; 3-adapter adjustment mechanism; 31-actuator plate; 32-L-shaped limiter; 33-buffer block; 34-magnetic switch; 4-positioning mechanism; 41-positioning block; 42-positioning pin; 43-positioning cylinder; 431-limiting hole; 44-elastic member; 45-limiting block; 46-positioning cylinder clamping plate; 5-second driving mechanism; 6-clamping mechanism; 61-mounting plate; 62-clamping arm; 63-driver; 7-sleeve adapter; 71-adapter body; 711-sleeve receiving hole; 712-slot hole; 72-clamping member; 73-positioning ring; 74-elastic reset member; 8-slide rail; 9-sleeve in place detection mechanism; 10-controller; 11-magnetic induction switch. DETAILED DESCRIPTION

[0060] The following will describe the implementation of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0061] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0062] This embodiment provides a sleeve automatic switching device, such as Figure 1 , Figure 2 and Fig. 9 As shown, the sleeve automatic switching device includes: a robot, a base 1, a first driving mechanism 2, an adapter adjustment mechanism 3, a positioning mechanism 4, a second driving mechanism 5 and a clamping mechanism 6; wherein the robot has the performance of receiving operation instructions and being able to move freely; the base 1 supports each mechanism.

[0063] Specifically, the robot is provided with a sleeve adapter 7, which can be plugged and matched with the sleeve, so that the robot can move and transport the sleeve under the carrying action, and tighten and assemble and disassemble the bolts. The first driving mechanism 2 is arranged on the base 1; the adapter adjustment mechanism 3 is arranged on the base 1 and connected to the first driving mechanism 2; the adapter adjustment mechanism 3 is used to lift and lower relative to the base 1 under the drive of the first driving mechanism 2 to unlock and lock the sleeve adapter 7; the positioning mechanism 4 is arranged on the base 1 and is located below the adapter adjustment mechanism 3; the positioning mechanism 4 has a plurality of sleeve accommodating positions arranged in parallel in the horizontal direction; when the sleeve is transferred to the sleeve accommodating position by the robot, the sleeve can be positioned by the positioning mechanism 4. The second driving mechanism 5 is arranged on the base 1; the clamping mechanism 6 is arranged on the base 1 and connected to the second driving mechanism 5; the clamping mechanism 6 is used to reciprocate between the plurality of sleeve accommodating positions under the drive of the second driving mechanism 5 to clamp and loosen the sleeve.

[0064] When the sleeve and the sleeve adapter 7 are in a plug-in state, and the sleeve needs to be put back to the base 1 after use, the robot carries the sleeve adapter 7 to transfer the sleeve to the top of the sleeve accommodating position and corresponds to the sleeve accommodating position; then the second driving mechanism 5 is started, and drives the clamping mechanism 6 to move to a sleeve accommodating position to wait for the sleeve; the robot carries the sleeve adapter 7 to move downward and inserts it into the sleeve accommodating position, then the first driving mechanism 2 is started, and drives the adapter adjustment mechanism 3 to move upward to unlock the sleeve adapter 7, and the sleeve can be detached from the sleeve adapter 7 to be positioned by the positioning mechanism 4; at the same time, the clamping mechanism 6 is started and clamps the sleeve, so that the sleeve can be stably confined in the sleeve accommodating position, and the robot can carry the sleeve adapter 7 away from the base 1.

[0065] It can be seen that in the present embodiment, a plurality of sleeves of different specifications or the same specifications can be stored in the base 1 at the same time. After the sleeve adapter 7 is unlocked or locked by the adapter adjustment mechanism 3, the sleeve can be transported to the sleeve accommodating position for storage or taken out from the sleeve accommodating position by the robot, so as to store, replace, and tighten and assemble the bolts. By utilizing the characteristic that the robot can move freely in all directions, the sleeve automatic switching device of the present application can not only realize the automatic switching of the sleeve, but also can perform bolt tightening operations on different tightening points with different bolt specifications, thereby improving the flexibility of the overall structure.

[0066] In one implementation of this embodiment, due to the timeliness of bolt tightening, a single robot can tighten at most three points on one side, so three sleeve accommodating positions are arranged, which can be used to switch between three sleeves of different specifications.

[0067] In this embodiment, Figure 3 and Figure 4 As shown, the sleeve adapter 7 includes: an adapter body 71, a clamping member 72, a positioning ring 73 and an elastic reset member 74; a sleeve receiving hole 711 and at least two slots 712 are provided on the adapter body 71; the sleeve receiving hole 711 is arranged along the axial extension of the adapter body 71, and the slot 712 is arranged along the radial extension of the adapter body 71 and is connected with the sleeve receiving hole 711; a clamping member 72 is arranged in each slot 712, and the clamping member 72 can move in the slot 712; the positioning ring 73 is liftably mounted on the adapter body 71, and is used to resist and release the clamping member 72; one end of the elastic reset member 74 is connected to the adapter body 71, and the other end of the elastic reset member 74 is connected to the positioning ring 73.

[0068] Each clamping member 72 can be movably arranged in the corresponding slot 712, so when a part of the sleeve is located in the sleeve receiving hole 711, and all the clamping members 72 move toward the sleeve receiving hole 711 to support the sleeve, under the support force of all the clamping members 72, the sleeve adapter 7 clamps the sleeve, thereby locking the sleeve adapter 7, and the sleeve can move around with the sleeve adapter 7 and the robot. When all the clamping members 72 move out of the slot 712 to reduce the force against the sleeve, or even break away from the sleeve, the sleeve can be loosened from the sleeve receiving hole 711, thereby breaking away from the sleeve adapter 7, and unlocking the sleeve adapter 7.

[0069] It should be noted that, in the natural state, the positioning ring 73 abuts against the clamping member 72 to lock the sleeve; when the positioning ring 73 rises, the positioning ring 73 can release the clamping member 72 to unlock the sleeve. Therefore, when the sleeve adapter 7 carries the sleeve and is inserted into the sleeve accommodation position, the adapter adjustment mechanism 3 is located below the positioning ring 73, and when the adapter adjustment mechanism 3 rises, it can support the positioning ring 73 to rise; after the positioning ring 73 loses its support effect on each clamping member 72, each clamping member 72 moves out of the slot 712 and loosens the sleeve, thereby unlocking the sleeve adapter 7. Similarly, when the robot needs to remove the sleeve on the base 1 for use, the robot can carry the sleeve adapter 7 to move above the sleeve and insert a part of the sleeve into the sleeve receiving hole 711; then the adapter adjustment mechanism 3 is started and rises, the positioning ring 73 rises with the adapter adjustment mechanism 3, the elastic reset member 74 is squeezed and deformed, the clamping member 72 moves out of the slot 712 and makes way for the sleeve, and the robot pushes the sleeve adapter 7 downward so that the sleeve continues to be inserted upward into the sleeve receiving hole 711 and can correspond to the clamping member 72; at this time, the adapter adjustment mechanism 3 descends, and under the action of the elastic reset member 74 restoring the elastic deformation, the positioning ring 73 is reset, and the clamping member 72 clamps the sleeve to achieve the locking of the sleeve adapter 7, and the robot can move the sleeve out for the next operation.

[0070] In one implementation of this embodiment, the clamping member 72 includes a steel ball, which is spherical and can roll in the slot 712. In a natural state, the positioning ring 73 completely blocks the slot 712 and squeezes the steel ball, so that the steel ball is close to the sleeve receiving hole 711 or even partially located in the sleeve receiving hole 711, so that the sleeve adapter 7 remains in a locked state; when the positioning ring 73 rises to partially or completely disengage from the slot 712 under the action of an external force, as the positioning ring 73 moves upward, the steel ball gradually rolls out of the slot 712 to unlock the sleeve adapter 7.

[0071] In this embodiment, Figure 5 As shown, the positioning mechanism 4 includes a plurality of positioning blocks 41, which are arranged in sequence above the clamping mechanism 6 in the horizontal direction; the sleeve receiving position passes through the positioning blocks 41 in the vertical direction. When the sleeve is located at the sleeve receiving position, a portion of the sleeve extends downward to the moving path of the clamping mechanism 6, thereby ensuring that the clamping mechanism 6 moved to the corresponding position of the sleeve receiving position can clamp the sleeve, thereby achieving stable positioning of the sleeve on the base 1.

[0072] In this embodiment, Figure 8 As shown, the positioning mechanism 4 further includes a positioning pin 42, which is located below the clamping mechanism 6; the positioning pin 42 is used to be inserted into the sleeve, or to support the bottom wall of the sleeve.

[0073] It should be noted that the number of the positioning pins 42 is equal to the number of the sleeve receiving positions, and the positioning pins 42 correspond to the sleeve receiving positions one by one. Specifically, the positioning pins 42 are located below the positioning block 41, and the diameter of the top of the positioning pins 42 is smaller than the inner diameter of the sleeve, so that the positioning pins 42 can be inserted into the sleeve; or the diameter of the top of the positioning pins 42 is larger than the inner diameter of the sleeve, so that the positioning pins 42 can support the bottom wall of the sleeve.

[0074] Regardless of whether the locating pin 42 is inserted into the sleeve or supported by the bottom wall of the sleeve, the locating pin 42 can be used to support the sleeve from the bottom end of the sleeve; then, the locating block 41 positions the upper area of ​​the sleeve, and the locating pin 42 positions the lower area of ​​the sleeve; with the cooperation of the locating pin 42 and the locating block 41, the two areas of the sleeve can be positioned at the same time, thereby improving the stability of the sleeve stored in the automatic switching device of the sleeve.

[0075] It can be understood that when the length of the sleeve is short and not enough to contact the positioning pin 42, the positioning of the sleeve can be satisfied only by the positioning block 41 and the clamping mechanism 6; when the length of the sleeve is long and can contact the positioning pin 42, the sleeve can be positioned simultaneously by the positioning block 41, the clamping mechanism 6 and the positioning pin 42. Therefore, the sleeve automatic switching device of this embodiment can be used to position sleeves of various specifications and has wide applicability.

[0076] In this embodiment, Figure 8 As shown, the positioning mechanism 4 also includes a positioning cylinder 43 and an elastic member 44; the positioning cylinder 43 is arranged on the base 1 and is located below the clamping mechanism 6; one end of the elastic member 44 is connected to the positioning pin 42, and the other end of the elastic member 44 extends into the positioning cylinder 43 and is connected to the positioning cylinder 43.

[0077] When the robot switches the sleeve through the sleeve adapter 7, the sleeve adapter 7 presses the sleeve downward, which can squeeze and deform the elastic member 44, causing the positioning pin 42 to move downward, thereby compensating for the inconsistent movement coordination and improving the success rate of the sleeve switching.

[0078] In this embodiment, Figure 8 As shown, the positioning mechanism 4 also includes a limit stopper 45, which is arranged on the positioning pin 42; a limit hole 431 is arranged on the positioning cylinder 43, and the limit stopper 45 is located in the limit hole 431; in the natural state, the limit stopper 45 contacts the upper wall of the limit hole 431.

[0079] The limit stopper 45 can move up and down with the lifting of the positioning pin 42. When the limit hole 431 limits the limit stopper 45 up and down, the lifting height of the positioning pin 42 can be limited to ensure that the lifting range of the positioning pin 42 is within the upper and lower limit range.

[0080] In this embodiment, Figure 8 As shown, the positioning mechanism 4 further includes two positioning cylinder clamping plates 46 , which are relatively arranged on the base 1 in an openable and closable manner; the positioning cylinder 43 is located between the two positioning cylinder clamping plates 46 .

[0081] When the two positioning tube clamping plates 46 move back to back to open, the positioning tube 43 is separated from the positioning tube clamping plates 46, and the positioning tube 43 can move up and down, thereby adjusting the height of the positioning tube 43 to adapt to sleeves of different lengths; when the two positioning tube clamping plates 46 move toward each other to merge, both positioning tube clamping plates 46 can support the positioning tube 43, thereby clamping the positioning tube 43, so that the positioning tube 43 cannot move up and down. Therefore, in this embodiment, by opening and closing the positioning tube clamping plates 46, the positioning tube 43 can be moved upward or downward, thereby adjusting the height of the positioning pin 42 by adjusting the height of the positioning tube 43, so that the positioning pin 42 can be adaptively adjusted according to the height of sleeves of different specifications.

[0082] In this embodiment, Figure 6 As shown, the adapter adjustment mechanism 3 includes an actuator plate 31, which is movably disposed on the base 1; the actuator plate 31 is provided with a plurality of slots, which are connected to the sleeve receiving position and are used to receive the sleeve adapter 7. When the sleeve is located in the sleeve receiving position, the sleeve adapter 7 is located in the slot, and the positioning ring 73 is located on the moving path of the actuator plate 31, so as to be unlocked and locked under the drive of the actuator plate 31.

[0083] Specifically, when the sleeve is located in the sleeve accommodation position, the sleeve adapter 7 is located in the slot, and the positioning ring 73 is located above the actuator plate 31 and on the moving path of the actuator plate 31, so that when the actuator plate 31 rises, it can contact and push the positioning ring 73 to rise, thereby unlocking the sleeve adapter 7. When the actuator plate 31 descends, the positioning ring 73 descends and resets under the action of the elastic reset member 74, thereby locking the sleeve adapter 7.

[0084] It can be seen that in this embodiment, when the robot carries the sleeve adapter 7 and inserts the sleeve into the sleeve accommodating position, the actuator plate 31 rises and supports the positioning ring 73 to rise, thereby unlocking the sleeve adapter 7, so that the sleeve is detached from the sleeve adapter 7 and retained in the sleeve accommodating position; when the robot carries the sleeve adapter 7 and completes the docking with the sleeve in the sleeve accommodating position, the actuator plate 31 rises and unlocks the sleeve adapter 7, so that the sleeve can be inserted into the sleeve adapter 7, completing the plug-in fit between the sleeve and the sleeve adapter 7, so that the robot can pull the sleeve out of the sleeve accommodating position.

[0085] In one implementation of this embodiment, the adapter adjustment mechanism 3 further includes a limit assembly, which is disposed on the base 1 and is located at the bottom of the adapter.

[0086] The sleeve adapter 7 is located above the actuator plate 31; when the actuator plate 31 rises to contact the limit assembly, the sleeve adapter 7 is unlocked. The limit assembly can limit the rising height of the actuator plate 31; once the actuator plate 31 rises to contact the limit assembly, it stops moving, and the sleeve adapter 7 can be unlocked.

[0087] like Figure 1 and Figure 2 As shown, the limiting assembly includes two inverted L-shaped limiting members 32, and the two L-shaped limiting members 32 are respectively located on both sides of the execution plate 31 and are symmetrically arranged; Figure 6 As shown, two buffer blocks 33 are also provided on the actuator plate 31, and the two buffer blocks 33 correspond to the two L-shaped limit members 32 one by one, and a part of the L-shaped limit member 32 is located on the rising path of the buffer blocks 33; the buffer blocks 33 are used to play a buffering role. When the actuator plate 31 rises to the point where the buffer blocks 33 contact the L-shaped limit members 32 under the drive of the first driving mechanism 2, the first driving mechanism 2 stops, the actuator plate 31 stops rising, and the sleeve adapter 7 is unlocked.

[0088] In one implementation of this embodiment, Fig. 9 As shown, the sleeve automatic switching device also includes a controller 10, which is electrically connected to the robot, the first drive mechanism 2, the second drive mechanism 5, and the clamping mechanism 6 respectively; a magnetic switch 34 is also provided on the base 1, and the magnetic switch 34 is electrically connected to the controller 10. When the buffer block 33 contacts the L-shaped limiter 32, the magnetic switch 34 sends an induction signal to the controller 10, and the controller 10 sends a stop signal to the first drive mechanism 2, and the actuator plate 31 stops rising.

[0089] In this embodiment, the base 1 is also provided with a slide rail 8 (such as Figure 5 As shown in FIG. 1 , the clamping mechanism 6 is disposed on the slide rail 8 and can slide back and forth along the slide rail 8. The slide rail 8 is arranged to extend in the horizontal direction, so that when the clamping mechanism 6 slides back and forth along the slide rail 8, it can reciprocate between multiple sleeve accommodating positions, thereby clamping and positioning the sleeves in different sleeve accommodating positions by changing the position of the clamping mechanism 6.

[0090] In this embodiment, Figure 7 As shown, the clamping mechanism 6 includes a mounting plate 61, two clamping arms 62, and a driver 63; the mounting plate 61 is arranged on the base 1 and can slide back and forth in the horizontal direction; the two clamping arms 62 are arranged in the horizontal direction and are symmetrically arranged on the mounting plate 61; the driver 63 is connected to both clamping arms 62, and is used to drive the two clamping arms 62 to move toward and away from each other to clamp and loosen the sleeve.

[0091] When the clamping mechanism 6 is driven by the second driving mechanism 5 to move to the sleeve accommodating position where the sleeve is to be stored, the driver 63 controls the two clamping arms 62 to move toward each other, so that the two clamping arms 62 clamp the sleeve from both sides of the sleeve, thereby clamping and positioning the sleeve.

[0092] In this embodiment, the sleeve automatic switching device further includes a sleeve in-place detection mechanism 9, which is disposed on the clamping mechanism 6 and is electrically connected to the controller 10; the sleeve in-place detection mechanism 9 is used to detect whether a sleeve is stored in the sleeve accommodation position; when the sleeve is in the sleeve accommodation position, the driver 63 drives the two clamping arms 62 to move toward each other. When the sleeve enters the sleeve accommodation position, the sleeve in-place detection mechanism 9 can detect the sleeve, so that the two clamping arms 62 clamp the sleeve under the drive of the driver 63.

[0093] In one implementation of this embodiment, the sleeve in-place detection mechanism 9 includes a diffuse reflection switch.

[0094] In one implementation of this embodiment, Figure 7 As shown, a magnetic induction switch 11 is also provided on the mounting plate 61, and the magnetic induction switch 11 is electrically connected to the controller 10. When the sleeve in place detection mechanism 9 detects that there is a sleeve in the corresponding sleeve accommodation position (that is, the sleeve is completely stored in the sleeve accommodation position), the magnetic induction switch 11 sends an induction signal to the controller 10, and the controller 10 sends a start signal to the driver 63, and the driver 63 starts and drives the two clamping arms 62 to move toward each other to clamp the sleeve.

[0095] The above embodiments are only preferred embodiments for fully illustrating the present invention, and the protection scope of the present invention is not limited thereto. Any equivalent substitution or change made by a person skilled in the art based on the present invention is within the protection scope of the present invention.

Claims

1. A sleeve automatic switching device, characterized in that: It includes: robot; The robot is provided with a sleeve conversion head; Pedestal; A first driving mechanism is disposed on the base; an adapter adjustment mechanism, disposed on the base and connected to the first drive mechanism; the adapter adjustment mechanism is used to be raised and lowered relative to the base under the drive of the first drive mechanism to unlock and lock the sleeve adapter disposed on the robot; A positioning mechanism, disposed on the base and located below the adapter adjustment mechanism; The positioning mechanism has a plurality of sleeve accommodating positions arranged in parallel in the horizontal direction; A second driving mechanism is disposed on the base; The clamping mechanism is arranged on the base and connected to the second driving mechanism; the clamping mechanism is used to reciprocate between the plurality of sleeve accommodating positions under the drive of the second driving mechanism to clamp and release the sleeve.

2. The sleeve automatic switching device according to claim 1, characterized in that: The positioning mechanism comprises: A plurality of positioning blocks are arranged in sequence above the clamping mechanism in a horizontal direction; the sleeve accommodation position passes through the positioning blocks in an up-down direction; when the sleeve is located at the sleeve accommodation position, a portion of the sleeve extends downward to the moving path of the clamping mechanism.

3. The sleeve automatic switching device according to claim 2, characterized in that: The positioning mechanism also includes: The positioning pin is located below the clamping mechanism; the positioning pin is used to be inserted into the sleeve or to support the bottom wall of the sleeve.

4. The sleeve automatic switching device according to claim 3, characterized in that: The positioning mechanism also includes: A positioning cylinder, arranged on the base; An elastic member has one end connected to the positioning pin and the other end extending into the positioning cylinder and connected to the positioning cylinder.

5. The sleeve automatic switching device according to claim 4, characterized in that: The positioning mechanism also includes: A limit stopper, arranged on the positioning pin; The positioning cylinder is provided with a limit hole, and the limit stopper is located in the limit hole; in a natural state, the limit stopper contacts with an upper wall of the limit hole.

6. The sleeve automatic switching device according to claim 4, characterized in that: The positioning mechanism also includes: Two positioning tube clamping plates are relatively arranged on the base in an openable and closable manner; the positioning tube is located between the two positioning tube clamping plates.

7. The sleeve automatic switching device according to claim 1, characterized in that: The adapter adjustment mechanism comprises: An execution plate is movably disposed on the base; a plurality of slots are disposed on the execution plate, and the slots are connected to the sleeve receiving position; When the sleeve is located in the sleeve accommodating position, the sleeve adapter is located in the slot, and the positioning ring of the sleeve adapter is located on the moving path of the actuator plate, so as to be unlocked and locked under the drive of the actuator plate.

8. The sleeve automatic switching device according to claim 7, characterized in that: The adapter adjustment mechanism also includes: The limiting assembly is arranged on the base and is partially located above the actuating plate; when the actuating plate rises to contact with the limiting assembly, the sleeve adapter is unlocked.

9. The sleeve automatic switching device according to claim 1, characterized in that: The clamping mechanism comprises: A mounting plate is arranged on the base and can slide back and forth in a horizontal direction; Two clamping arms, disposed on the mounting plate; The driver is connected to the two clamping arms and is used to drive the two clamping arms to move toward and away from each other to clamp and release the sleeve.

10. The automatic sleeve switching device according to claim 9, characterized in that: It also includes: The sleeve in-place detection mechanism is arranged on the clamping mechanism and is used to detect whether a sleeve is stored in the sleeve accommodating position; when the sleeve is in the sleeve accommodating position, the driver drives the two clamping arms to move toward each other.

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