CN-117735393-B - Flexible butt joint device of electromechanical liquid quick-change system

Abstract

The invention provides a flexible butt joint device of an electromechanical liquid quick-change system, which comprises a hydraulic wrist, a flexible butt joint mechanism and an accessory, wherein the flexible butt joint mechanism comprises an oil way butt joint mounting plate, a plurality of telescopic devices, a plurality of quick-connect male connectors and a hydraulic wrist mounting plate, the oil way butt joint mounting plate and the hydraulic wrist mounting plate are flexibly connected through the telescopic devices, the hydraulic wrist mounting plate is fixedly arranged on a lower connecting frame of the hydraulic wrist, the accessory is provided with a butt joint oil way plate matched with the flexible butt joint plate, and the plurality of quick-connect male connectors on the flexible butt joint plate are matched with a plurality of quick-connect female connectors on the butt joint oil way plate to finish the butt joint of the flexible butt joint mechanism and the accessory. The invention solves the problems of high installation cost and complex installation of the common flexible docking mechanism on each accessory, and simultaneously solves the practical requirements of flexible docking of the quick-plugging connector of the oil way and flexible compensation docking of the large degree of freedom.

Inventors

• LI WEI
• LIU YUCHEN
• LUO BIN
• ZHU KEYI
• JIANG CHAO
• WANG JIANJUN
• YI BINGBING
• WANG QIAN

Assignees

• 湖南大学
• 湖南远东机械制造股份有限公司

Dates

Publication Date

20260512

Application Date

20231217

Claims (6)

1. 1. The flexible butt joint device of the electromechanical liquid quick-change system is characterized by comprising a hydraulic wrist (1), a flexible butt joint mechanism (2) and an accessory (3); The flexible butt joint mechanism (2) comprises an oil way butt joint mounting plate (2-1), a plurality of top ball hinges (2-2), a plurality of telescopic devices, a plurality of bottom ball hinges (2-6), a plurality of quick-connect connectors and a hydraulic wrist mounting plate (2-12); the front surface of the oil way butt joint mounting plate (2-1) is provided with a plurality of quick-plug male joints, and the back surface of the oil way butt joint mounting plate is provided with a plurality of top ball hinges (2-2); the hydraulic wrist mounting plate (2-12) is arranged below the oil way butt joint mounting plate (2-1), and a plurality of bottom spherical hinges (2-6) are arranged at the top of the hydraulic wrist mounting plate (2-12); The telescopic devices are respectively arranged between the corresponding top spherical hinge (2-2) and the corresponding bottom spherical hinge (2-6), each telescopic device comprises a limiting spring (2-5), a push-out rod (2-3) and a bottom motion actuator (2-4), each bottom motion actuator (2-4) is connected with the corresponding bottom spherical hinge (2-6) through a ball pair, each push-out rod (2-3) is connected with the corresponding top spherical hinge (2-2) through a ball pair, and each limiting spring (2-5) is arranged between each push-out rod (2-3) and each bottom motion actuator (2-4); The hydraulic wrist mounting plate (2-12) is fixedly mounted on a lower connecting frame of the hydraulic wrist (1), a butt joint oil circuit board (3-1) matched with the oil circuit butt joint mounting plate (2-1) is mounted on the accessory (3), a plurality of quick-connect female connectors are arranged on the butt joint oil circuit board (3-1), a plurality of quick-connect male connectors on the oil circuit butt joint mounting plate (2-1) are matched with a plurality of quick-connect female connectors on the butt joint oil circuit board (3-1), and butt joint of the flexible butt joint mechanism (2) and the accessory (3) is completed; the tail parts of the push rod (2-3) and the bottom motion actuator (2-4) are in protruding sphere shapes, the bottom motion actuator (2-4) is of a tubular structure and is used for accommodating the limiting spring (2-5), the tail part of the push rod (2-3) is of a cylindrical boss structure, and the limiting spring (2-5) is compressed in the cavity of the bottom motion actuator under the action of force; the lengths of the limiting spring (2-5) and the pushing rod (2-3) are preset values, so that the degree of freedom of the oil way joint mounting plate (2-1) can be simultaneously guaranteed not to be limited, and meanwhile, the maximum flexible rotation angles of the oil way joint mounting plate in the three directions of x, y and z axes can be limited, and the mounting plate is prevented from infinitely rotating around the axis during the joint.
2. 2. The flexible docking device of an electro-mechanical and hydraulic quick change system according to claim 1, wherein the bottom spherical hinges (2-6) and the top spherical hinges (2-2) are distributed in a staggered manner along the circumference, dividing the whole circle into a plurality of areas, and the bottom spherical hinges (2-6) and the top spherical hinges (2-2) of each area are connected with each other through the telescopic device.
3. 3. The flexible butt joint device of the electromechanical liquid quick change system according to claim 1, wherein the oil way butt joint mounting plate (2-1) is provided with a quick joint first mounting hole (2-13), a quick joint second mounting hole (2-14) and a quick joint third mounting hole (2-15), and the quick joint comprises a first quick joint (2-8), a second quick joint (2-10) and a third quick joint (2-11); the first quick-connect male connector (2-8) is arranged in a first mounting hole (2-13) of the quick-connect connector, the second quick-connect male connector (2-10) is arranged in a second mounting hole (2-14) of the quick-connect connector, and the third quick-connect male connector (2-11) is arranged in a third mounting hole (2-15) of the quick-connect connector.
4. 4. A flexible docking device of an electro-mechanical and hydraulic quick change system according to claim 3, wherein the docking oil circuit board (3-1) is provided with a first quick-connect female connector (3-4), a second quick-connect female connector (3-2) and a third quick-connect female connector (3-5); The first quick-connect male connector (2-8) is matched with the first quick-connect female connector (3-4), the second quick-connect male connector (2-10) is matched with the second quick-connect female connector (3-2), and the third quick-connect male connector (2-11) is matched with the third quick-connect female connector (3-5).
5. 5. The flexible docking device of the electromechanical liquid quick change system according to claim 1, wherein the oil way docking head mounting plate (2-1) is provided with a first pin shaft mounting hole (2-16) and a second pin shaft mounting hole (2-17), and the flexible docking mechanism (2) comprises a first positioning pin (2-7) and a second positioning pin (2-9); The first locating pins (2-7) are arranged in the first pin shaft mounting holes (2-16), and the second locating pins (2-9) are arranged in the second pin shaft mounting holes (2-17).
6. 6. The flexible butt joint device of the electromechanical liquid quick change system according to claim 5, wherein the butt joint oil circuit board (3-1) is provided with a first positioning pin hole (3-3) and a second positioning pin hole (3-6); The first locating pin (2-7) and the second locating pin (2-9) are respectively matched with the first locating pin hole (3-3) and the second locating pin hole (3-6).

Description

Flexible butt joint device of electromechanical liquid quick-change system Technical Field The invention relates to the technical field of engineering machinery, in particular to a flexible butt joint device of an electromechanical liquid quick-change system. Background The automatic oil way conducting mechanism of the hydraulic wrist has the characteristics of simple structure and convenient manufacture, but in the actual processing and assembling process, the quick-change male connector positioned at the device side and the quick-change female connector positioned at the accessory side have certain deviation due to the deviation of the accessory mounting plate matched welding processing and the error of the mechanical processing and assembling of each mounting plate, namely, the quick-change connector has certain coaxiality deviation, so that the flexible butt joint mechanism is required to compensate the error generated in the assembling process. For a long time, the existing flexible docking mechanism generally adopts a mode of adding a limit clamping groove or a floating hole by a spring, for example, two multi-degree-of-freedom automatic centering devices designed by patent numbers CN201911141622.5 and CN20191098419. X, the docking freedom of the quick connector is more limited, only flexible movement in one direction of 6 degrees of freedom can be realized, the docking mechanism for the hydraulic wrist of engineering equipment disclosed by patent number CN202211176189.0 is more complex in assembly and higher in cost, the defects of the docking mechanism are improved by patent application number CN202320994675.7, the problems that the mobility is not high, the docking process is easy to clamp and the like still exist on the accessories, and the flexible docking mechanism needs to be installed on each accessory, so that the cost is higher. Disclosure of Invention The invention aims to provide a flexible quick-change mechanism with high activity and 6-degree-of-freedom flexible compensation, which is arranged at the tail end of a swinging cylinder type hydraulic wrist, so that flexible butt joint between the hydraulic wrist and an accessory is realized, the service life of a quick-change plug is prolonged, and the use cost is reduced. Specifically, the invention provides a flexible docking device of an electromechanical liquid quick-change system, which comprises a hydraulic wrist, a flexible docking mechanism and an accessory; the flexible docking mechanism comprises an oil way docking head mounting plate, a plurality of top ball hinges, a plurality of telescopic devices, a plurality of bottom ball hinges, a plurality of quick-connect male connectors and a hydraulic wrist mounting plate; the front surface of the oil way butt joint mounting plate is provided with a plurality of quick-plug male joints, and the back surface of the oil way butt joint mounting plate is provided with a plurality of top ball hinges; the hydraulic wrist mounting plate is arranged below the oil way butt joint mounting plate, and a plurality of bottom spherical hinges are arranged at the top of the hydraulic wrist mounting plate; The telescopic devices are respectively arranged between the corresponding top spherical hinge and the corresponding bottom spherical hinge, and comprise a limiting spring, a push-out rod and a bottom motion actuator, wherein the bottom motion actuator is connected with the bottom spherical hinge through a ball pair, the push-out rod is connected with the top spherical hinge through a ball pair, and the limiting spring is arranged between the push-out rod and the bottom motion actuator; The hydraulic wrist mounting plate is fixedly mounted on the lower connecting frame of the hydraulic wrist, a butt joint oil circuit board matched with the flexible butt joint plate is mounted on the accessory, a plurality of quick-connect female connectors are arranged on the butt joint oil circuit board, the plurality of quick-connect male connectors on the flexible butt joint plate are matched with the plurality of quick-connect female connectors on the butt joint oil circuit board, and butt joint of the flexible butt joint mechanism and the accessory is completed. Further, the bottom spherical hinges and the top spherical hinges are distributed in a staggered mode along the circumference, the whole circle is divided into a plurality of areas, and the bottom spherical hinges and the top spherical hinges of each area are connected with each other through the telescopic device. Further, the head part of the push-out rod and the tail part of the bottom motion actuator are in a protruding sphere shape; the bottom motion actuator is of a tubular structure and is used for accommodating the limiting spring, the tail part of the push rod is of a cylindrical boss structure, and the limiting spring is compressed by moving in the cavity of the bottom motion actuator under the action of force. And the lengths of the limiting spri