CN-117103254-B - Self-adaptive sleeve for hydraulic joint installation and automatic positioning installation method

CN117103254BCN 117103254 BCN117103254 BCN 117103254BCN-117103254-B

Abstract

The invention discloses a self-adaptive sleeve for installing a hydraulic joint and an automatic positioning installation method, which comprise a stepped spring clamp seat, wherein a first stepped square hole, a second stepped square hole, an inner cylindrical hole and an inner conical hole are sequentially formed in the spring clamp seat vertically downwards, the side length of the first stepped square hole is larger than that of the second stepped square hole, the aperture of a circumcircle of the second stepped square hole is larger than that of the inner cylindrical hole, a cylinder is arranged in the second stepped square hole and is fixed on the top end face of the inner cylindrical hole, the spring clamp seat is pulled by the spring clamp seat to be upwards moved and contracted through the spring clamp seat, the outer hexagonal size of the hydraulic joint with different specifications is further self-adapted, the auxiliary time caused by frequent sleeve replacement is avoided, and the technical problems that the installation operation of an automatic assembly unit of the hydraulic valve is complicated and manual assistance is required are solved.

Inventors

LV MENG
TIAN DONGZHUANG
LIU QINGXIU
YANG RUIBO
ZHAO DI
LU QIANHAI
YANG JINGWEN
LIU YAJU
LI JUN

Assignees

中煤科工西安研究院(集团)有限公司

Dates

Publication Date: 20260508
Application Date: 20230811

Claims (6)

1. The automatic positioning and mounting method for the hydraulic joint is characterized by adopting a self-adaptive sleeve for mounting the hydraulic joint, wherein the self-adaptive sleeve for mounting the hydraulic joint comprises a stepped spring clamp seat (1), and a first stepped square hole (101), a second stepped square hole (102), an inner cylindrical hole (103) and an inner conical hole (104) are sequentially formed in the spring clamp seat (1) vertically downwards; the side length of the first stepped square hole (101) is larger than the aperture of the second stepped square hole (102), and the aperture of a circumcircle of the second stepped square hole (102) is larger than the aperture of the inner cylindrical hole (103); a cylinder (2) is arranged in the second stepped square hole (102), and is fixed on the top end surface of the inner cylindrical hole (103); a pair of first key grooves (105) which are distributed along the axial direction are symmetrically arranged on the side wall of the inner conical hole (104), a pair of second key grooves (304) are symmetrically arranged on the outer wall of the bottom of the conical section (302), the positions of the first key grooves (105) and the second key grooves (304) are in one-to-one correspondence, two rectangular key grooves (4) are formed in the rectangular key grooves (3), the cylindrical section (301) stretches into the inner cylindrical hole (103) and is in contact with the bottom of the cylinder (2), a plurality of slots (303) are uniformly formed in the conical section (302) along the circumferential direction, a pair of second key grooves (304) are symmetrically formed on the outer wall of the bottom of the conical section (302), the positions of the first key grooves (105) and the second key grooves (304) are in one-to-one correspondence, the rectangular key grooves (4) are arranged in the rectangular key grooves, the sliding keys (4) are arranged on the inner wall of the conical section (104), and a plurality of six square key grooves (305) are formed in the side wall of the conical section (104); The method specifically comprises the following steps: step 1, placing a hydraulic valve block (13) on a machine table (14), and driving an industrial camera (16) by a robot electric batch (15) to scan the installation surface of the hydraulic valve block (13), automatically identifying characteristic objects on the installation surface of a joint, and obtaining accurate images corresponding to the characteristic objects; the characteristic objects comprise planes, counter bores, bosses, round holes and internal threaded holes; Step 2, analyzing and calculating the accurate image obtained in the step 1 by taking the coordinate origin of the robot electric batch (15) as the working origin to obtain each oil port of the hydraulic valve block (13) Size information of (2); The oil through port The size information of (a) comprises an oil through port Is of the thread specification and the oil through port Coordinates of the mounting points of (a) ; Step 3, adopting the following coordinates of mounting points of all oil ports A kind of electronic device Direction coordinates Compensating to obtain the hydraulic joint Coordinates to the installation point Obtaining the coordinates of the installation point positions of each hydraulic joint as ; Wherein: the hydraulic joint and the hydraulic valve block (13) are provided with oil through ports Is a rotation and depth of (2); Indicating the serial number of the oil through port; Step 4, carrying out path optimization calculation according to the installation point position coordinates of each hydraulic joint obtained in the step 3 to obtain the shortest path for the robot to install each hydraulic joint to move; the shortest path comprises the installation sequence of each hydraulic joint and the moving path of the installation process robot; step 5, according to the oil through port of the hydraulic valve block (13) The robot automatically moves to the point position of the hydraulic joint with the corresponding thread specification on the hydraulic joint jig plate (17) to grasp the hydraulic joint; Wherein: Represent the first An oil through port is arranged on the bottom of the cylinder, The range of the value is 1 to 1 , Indicating the total number of oil through holes on the hydraulic valve block; Step6, the robot automatically moves to the oil port Corresponding to the mounting point coordinates of the hydraulic joint When the set torque value of the hydraulic joint is reached, a cylinder rod (12) of the cylinder (2) stretches out to drive the collet chuck (3) to move downwards along the sliding key (4) in the axial direction of the collet chuck base (1), the inner hexagonal hole (305) stretches out, the size S of the inner hexagonal hole (305) becomes larger, the collet chuck (3) loosens the hydraulic joint, and the robot retreats; Step 7, judging whether the method meets If it is, make Returning to the execution of step 5, if not, ending.
2. The automatic positioning and mounting method of the hydraulic joint according to claim 1, wherein four first bolt holes (5) are formed in the top end face of the inner cylinder hole (103), four second bolt holes (6) are formed in the cylinder (2), and the first bolt holes (5) and the second bolt holes (6) are connected in a matched mode through first bolts (7).
3. The automatic positioning and mounting method of the hydraulic joint according to claim 1, wherein two pairs of third bolt holes (8) are symmetrically formed in the side wall of the second stepped square hole (102), two pairs of fourth bolt holes (9) are symmetrically formed in the side face of the cylinder (2), and the third bolt holes (8) and the fourth bolt holes (9) are connected in a matched mode through second bolts.
4. The automatic positioning and mounting method of the hydraulic joint according to claim 1, wherein a through hole (11) is formed in the top of the cylindrical section (301), and a cylinder rod (12) at the bottom of the cylinder (2) is in threaded connection with the through hole (11).
5. The automatic positioning and mounting method of the hydraulic joint according to claim 1, wherein the sliding key (4) is mounted on the side wall of the inner conical hole (104) through the screw mounting hole (106) and the screw (18) in a matching way.
6. The automatic positioning and mounting method of the hydraulic joint according to claim 1, wherein in the step 5, the grabbing hydraulic joint is specifically that a cylinder rod (12) of a cylinder (2) is retracted to drive a collet chuck (3) to move upwards along a sliding key (4) in the axial direction of a collet chuck (1), an inner hexagonal hole (305) is contracted, the size S of the inner hexagonal hole (305) is reduced, and the collet chuck (3) grabs the hydraulic joint.

Description

Self-adaptive sleeve for hydraulic joint installation and automatic positioning installation method Technical Field The invention belongs to the field of automatic installation of hydraulic integrated valve block joints, relates to an automatic positioning installation method, and particularly relates to a self-adaptive sleeve for hydraulic joint installation and an automatic positioning installation method. Background The hydraulic integrated valve block is simply called as a hydraulic valve block, and a plurality of hydraulic control valves are integrated or combined and installed on the same valve body to form an assembly body with a preset control function. The hydraulic valve block simplifies the design and the installation of a hydraulic system, realizes the integration and the standardization of the hydraulic system, reduces the manufacturing cost and improves the reliability of the system, so that the hydraulic valve has wide application and important status in the hydraulic system. The valve body is provided with an oil through port for installing a hydraulic joint, and an external hydraulic pipeline is connected with the valve block through the hydraulic joint to control the actuating mechanism, oil inlet, oil return, oil drain and the like. The hydraulic valve block is integrated with a plurality of hydraulic control valves to realize a plurality of control functions, so that the valve body is provided with a plurality of oil ports with different sizes, and a plurality of hydraulic joints with different specifications are required to be installed. The conventional hydraulic joint has six external aspects, the conventional manual installation hydraulic joint requires workers to manually install adjustable wrenches or solid wrenches according to different joint specifications, the hydraulic valve block is positioned in a high-pressure system, a certain pretightening force is required to be applied to the hydraulic joint, the labor intensity of the workers is high, the time is consumed, the tightening force of the hydraulic joint is not standard and not standard, and oil leakage is easy to occur in the high-pressure system. In order to lighten the labor intensity, the working flow is normalized, standardized and automated by combining the development of the existing automation level, and the working efficiency and the installation quality are improved. The automatic assembling unit for the quick connector of the hydraulic valve is developed, the valve block is manually clamped on the tool, the connector is placed on the tool plate, automatic feeding and discharging are performed by means of a robot, the connector is automatically installed and screwed by the robot, torsion is controlled according to the torsion sensor, the problems of high labor intensity of workers and irregular installation are effectively solved, and automation and standardization of operation are realized. In the actual use process of the hydraulic valve quick connector automatic assembly unit, the hydraulic valve quick connector automatic assembly unit has the defects that firstly, as the hydraulic connectors with various specifications are required to be installed on the valve block and distributed on the plurality of surfaces of the hexahedron of the valve block, the installation manipulator is required to frequently replace the sleeve to adapt to the sizes of the outer hexagons of the hydraulic connectors with different specifications, the auxiliary time required in the working process is more, and more sleeves with different specifications are required to be prepared. The outer hexagonal of the hydraulic joint is a blank surface, sometimes dimensional errors exist, when the outer hexagonal of the joint is larger than the actual size, the joint cannot be assembled into the existing inner hexagonal sleeve, when the outer hexagonal is small and the actual size is small, a gap exists between the sleeve and the joint, the sleeve shakes more during installation, and the joint or the valve block screw thread is easy to damage. Finally, the oil port point positions of the valve block need to be aligned and planned in a hole-by-hole and surface-by-surface teaching mode, time and labor are consumed, the requirements on the manufacturing precision and stability of the valve block are high, the manufacturing cost is increased, and the improvement of the production efficiency is not facilitated. Disclosure of Invention Aiming at the defects existing in the prior art, the invention aims to provide a self-adaptive sleeve for hydraulic joint installation and an automatic positioning installation method, so as to solve the technical problems that the existing hydraulic valve quick joint automatic assembly unit is complex in installation operation and needs manual assistance. In order to solve the technical problems, the invention adopts the following technical scheme: On one hand, the self-adaptive sleeve for installing the hydraulic joint