An adaptive sleeve for hydraulic fitting installation and automatic positioning installation method

Abstract

The application discloses a self-adaptive sleeve for hydraulic joint installation and an automatic positioning installation method, and relates to the technical field of hydraulic joint installation, in particular to a self-adaptive sleeve for hydraulic joint installation and an automatic positioning installation method. The self-adaptive sleeve for hydraulic joint installation comprises a stepped spring collet seat, the inside of the spring collet seat is sequentially provided with a first stepped square hole, a second stepped square hole, an inner cylindrical hole and an inner tapered hole from top to bottom along the vertical direction; the side length of the first stepped square hole is larger than that of the second stepped square hole, and the diameter of the outer circle of the second stepped square hole is larger than that of the inner cylindrical hole; a gas cylinder is arranged in the second stepped square hole and fixed on the top end face of the inner cylindrical hole; the spring collet is matched with the inner tapered hole of the spring collet seat, the spring collet is pulled upward and shrunk by the gas cylinder, and then the outer hexagonal size of different specifications of hydraulic joints is adapted, so that the auxiliary time caused by frequent replacement of the sleeve is avoided, and the technical problems that the existing automatic assembly unit of the hydraulic valve quick joint is complicated to install and needs manual assistance are solved.

Description

Technical Field

[0001] This invention belongs to the field of automated installation of hydraulic integrated valve block joints, and relates to an automatic positioning installation method, specifically an adaptive sleeve and automatic positioning installation method for hydraulic joint installation. Background Technology

[0002] A hydraulic integrated valve block, or simply a hydraulic valve block, is an assembly that integrates or combines multiple hydraulic control valves onto a single valve body to form a unit with a predetermined control function. Hydraulic valve blocks simplify the design and installation of hydraulic systems, achieve system integration and standardization, reduce manufacturing costs, and improve system reliability. Therefore, hydraulic valve blocks have wide applications and hold an important position in hydraulic systems.

[0003] The valve body is equipped with oil inlets for installing hydraulic connectors. External hydraulic lines are connected to the valve block via hydraulic connectors to control actuators, oil inlet, oil return, and oil outlet. The hydraulic valve block integrates multiple hydraulic control valves, achieving various control functions. Therefore, the valve body has multiple oil inlets of different sizes, requiring the installation of multiple hydraulic connectors of different specifications. Conventional hydraulic connectors have external six-way joints. Traditional manual installation of hydraulic connectors requires workers to adjust adjustable wrenches or replace them with fixed wrenches according to the connector specifications. Since the hydraulic valve block is in a high-pressure system, hydraulic connector installation requires applying a certain pre-tightening force. This results in high labor intensity and time consumption for workers. Inconsistent or non-standard tightening of hydraulic connectors can easily lead to oil leaks in high-pressure systems.

[0004] To reduce manual labor intensity and leverage existing automation levels, the work process was standardized, automated, and improved work efficiency and installation quality. An automated assembly unit for hydraulic valve quick-connect couplings was developed. Manual laborers clamped the valve block onto the tooling and placed the coupling handle on the fixture plate. Robots automatically loaded and unloaded the components and automatically installed and tightened the couplings. Torque was controlled by a torque sensor, effectively solving the problems of high labor intensity and non-standard installation by workers, thus achieving automation and standardization of the operation.

[0005] The automated assembly unit for hydraulic valve quick-connect couplings has some shortcomings in practical use: First, because various specifications of hydraulic couplings need to be installed on the valve block, distributed across multiple faces of the valve block's hexahedron, the installation robot needs to frequently change sleeves to accommodate the different hexagonal dimensions of the hydraulic couplings, requiring significant auxiliary time and the preparation of numerous sleeves of various sizes. Second, the hexagonal surface of the hydraulic coupling is a rough blank, sometimes with dimensional errors. When the hexagonal dimension of the coupling is larger than the actual size, the existing internal hexagonal sleeve cannot be installed; when the hexagonal dimension is smaller than the actual size, there is a gap between the sleeve and the coupling, resulting in significant shaking during installation and potentially damaging the threads of the coupling or valve block. Finally, the oil port positions on the valve block require individual hole-by-hole and face-by-face teaching and path planning, which is time-consuming and labor-intensive, and places high demands on the manufacturing precision and stability of the valve block. All of these factors increase manufacturing costs and hinder production efficiency. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide an adaptive sleeve and an automatic positioning installation method for hydraulic connector installation, thereby solving the technical problem that the existing automated assembly units for hydraulic valve quick connectors require cumbersome installation operations and manual assistance.

[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0008] On one hand, an adaptive sleeve for installing hydraulic connectors includes a stepped spring collet seat, wherein the interior of the spring collet seat is provided with a first stepped square hole, a second stepped square hole, an inner cylindrical hole and an inner conical hole in sequence along the vertical downward direction.

[0009] The side length of the first stepped square hole is greater than the side length of the second stepped square hole, and the diameter of the circumscribed circle of the second stepped square hole is greater than the diameter of the inner cylindrical hole.

[0010] A cylinder is installed in the second-step square hole and is fixed to the top end face of the inner cylindrical hole.

[0011] The inner conical hole has a pair of symmetrically distributed first keyways along the axial direction on its sidewall. Each first keyway has a radially distributed screw mounting hole at its axial center. A spring collet is provided inside the inner conical hole. The spring collet includes a cylindrical section and a conical section. The cylindrical section extends into the inner cylindrical hole and contacts the bottom of the cylinder. Multiple slits are evenly distributed along the circumference of the conical section. A pair of symmetrically distributed second keyways are provided on the outer wall of the bottom of the conical section. The positions of the first and second keyways correspond one-to-one and form two rectangular keyways. A sliding key is provided in the rectangular keyway and is installed on the sidewall of the inner conical hole. An internal hexagonal hole is provided on the inner wall of the conical section.

[0012] This invention also includes the following technical features:

[0013] Four first bolt holes are opened on the top end face of the inner cylindrical hole, and four second bolt holes are opened on the cylinder. The first bolt holes and the second bolt holes are connected by first bolts.

[0014] The second-step square hole has two pairs of third bolt holes symmetrically opened on its side wall, and the cylinder has two pairs of fourth bolt holes symmetrically opened on its side. The third bolt holes and the fourth bolt holes are connected by a second bolt.

[0015] The top of the cylindrical section has a through hole, and the cylinder rod at the bottom of the cylinder is threaded into the through hole.

[0016] The slide key is mounted on the side wall of the inner conical hole through a screw mounting hole and screw engagement.

[0017] On the other hand, an automatic positioning and installation method for hydraulic joints, employing the aforementioned self-adaptive sleeve for hydraulic joint installation, specifically includes the following steps:

[0018] Step 1: Place the hydraulic valve block on the machine platform. The robot electric screwdriver drives the industrial camera to scan the mounting surface of the hydraulic valve block, automatically identify the feature objects on the joint mounting surface, and obtain accurate images corresponding to each feature object.

[0019] The featured objects include planes, countersunk holes, bosses, round holes, and internal threaded holes;

[0020] Step 2: Using the origin of the robot electric screwdriver's coordinates as the working origin, perform analytical calculations on the precise image obtained in Step 1 to obtain the oil inlets S of the hydraulic valve block. n Size information;

[0021] The oil inlet S n Size information includes oil inlet S n Thread specifications and oil port Sn Installation point coordinates (X n Y n Z n );

[0022] Step 3, use the following formula to determine the coordinates of the installation points (X) of each oil inlet. n Y n Z n Z-coordinate of ) n Compensation is performed to obtain the Z-axis installation point coordinates of the hydraulic joint. n That is, the coordinates of the installation points of each hydraulic joint are obtained as (X... n Y n Z n ');

[0023] Z n =Z n +h+1

[0024] Where: h is the oil inlet of the hydraulic connector and hydraulic valve block S n The rotation and depth;

[0025] n represents the oil inlet number;

[0026] Step 4: Based on the installation point coordinates of each hydraulic joint obtained in Step 3, perform path optimization calculations to obtain the shortest path for the robot to move to install each hydraulic joint.

[0027] The shortest path includes the installation sequence of each hydraulic joint and the robot's movement path during the installation process;

[0028] Step 5, according to the oil inlet S of the hydraulic valve block n The robot automatically moves to the corresponding point on the hydraulic connector fixture plate to grasp the hydraulic connector according to the thread specification.

[0029] Wherein: S n This indicates the nth oil inlet, where n ranges from 1 to N, and N represents the total number of oil inlets on the hydraulic valve block.

[0030] Step 6: The robot automatically moves to the oil inlet S. n The installation point coordinates of the hydraulic joint corresponding to the installation point coordinates (X) n Y n Z n At point '), the hydraulic connector is installed and tightened; when the set torque value of the hydraulic connector is reached, the cylinder rod extends, driving the spring collet to move axially upward and downward along the slide key in the spring collet seat, the internal hexagonal hole opens, the size S of the internal hexagonal hole increases, the spring collet releases the hydraulic connector, and the robot retracts.

[0031] Step 7: Determine whether n < N is satisfied. If so, set n = n + 1 and return to execute Step 5. If not, end.

[0032] The gripping joint action is that the cylinder rod of the cylinder retracts, driving the spring chuck to move upward along the sliding key in the axial direction of the spring chuck seat. The internal hexagonal hole contracts, the size S of the internal hexagonal hole becomes smaller, and the spring chuck grips the hydraulic joint.

[0033] Compared with the prior art, the beneficial technical effects of the present invention are:

[0034] (Ⅰ) In the present invention, through the cooperation of the spring chuck and the inner conical hole surface of the spring chuck seat, the spring chuck is pulled upward by the cylinder to contract, thereby adapting to the external hexagonal dimensions of different specifications of hydraulic joints, avoiding the auxiliary time caused by frequent replacement of the sleeve, and solving the technical problems that the installation operation of the existing quick connector for hydraulic valves is cumbersome and requires manual assistance.

[0035] (Ⅱ) Compared with similar products, the adaptive sleeve of the present invention is not affected by the dimensional error of the external hexagon of the hydraulic joint, has good self - adaptability and compatibility, reduces the requirement for the dimensional accuracy of the external hexagon blank surface of the hydraulic joint, and at the same time does not require preparing sleeves of multiple specifications, achieving the purpose of cost reduction and efficiency improvement.

[0036] (Ⅲ) The automatic positioning and installation method of the present invention adopts image recognition technology and intelligent path planning, automatically obtains the thread specification dimensions of the oil - passing ports of the hydraulic valve block, the installation point coordinates and installation paths of the hydraulic joints, improves the automation level and working efficiency. Compared with the method of teaching the points and paths one by one for the oil - passing ports of the existing hydraulic valve blocks, this method is simple to operate, has high point accuracy, saves time and effort, reduces the requirement for the professional technical level of workers, and is not affected by the dimensional processing error of the oil - passing port points of the hydraulic valve block, with good self - adaptability and automation level. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 is the overall structural schematic diagram of the present invention;

[0038] Figure 2 is the structural schematic diagram of the spring chuck seat in the present invention;

[0039] Figure 3 is the front - view structural schematic diagram of the spring chuck in the present invention;

[0040] Figure 4 is the bottom - view structural schematic diagram of the spring chuck in the present invention;

[0041] Figure 5 is the structural schematic diagram of the cylinder in the present invention;

[0042] Figure 6This is a schematic diagram of the application structure of the adaptive sleeve of the present invention;

[0043] Figure 7 This is a flowchart of the method of the present invention.

[0044] The meanings of the labels in the diagram are as follows: 1-Spring collet seat, 2-Cylinder, 3-Spring collet, 4-Slide key, 5-First bolt hole, 6-Second bolt hole, 7-First bolt, 8-Third bolt hole, 9-Fourth bolt hole, 11-Through hole, 12-Cylinder rod, 13-Hydraulic valve block, 14-Machine base, 15-Robot electric screwdriver, 16-Industrial camera, 17-Hydraulic connector fixture plate, 18-Screw;

[0045] 101-First stepped square hole, 102-Second stepped square hole, 103-Inner cylindrical hole, 104-Inner conical hole, 105-First keyway, 106-Screw mounting hole;

[0046] 301 - Cylindrical section, 302 - Conical section, 303 - Slit, 304 - Second keyway, 305 - Internal hexagonal hole.

[0047] The specific content of the present invention will be further explained in detail below with reference to the embodiments. Detailed Implementation

[0048] It should be noted that, unless otherwise specified, all components in this invention are those known in the art.

[0049] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0050] This invention provides an adaptive sleeve for hydraulic joint installation, such as... Figures 1 to 6 As shown, it includes a stepped spring chuck seat 1, and the interior of the spring chuck seat 1 is provided with a first stepped square hole 101, a second stepped square hole 102, an inner cylindrical hole 103 and an inner conical hole 104 in sequence along the vertical downward direction.

[0051] The side length of the first stepped square hole 101 is greater than the side length of the second stepped square hole 102, and the diameter of the outer circle of the second stepped square hole 102 is greater than the diameter of the inner cylindrical hole 103.

[0052] A cylinder 2 is provided in the second-step square hole 102 and is fixed to the top end face of the inner cylindrical hole 103.

[0053] A pair of axially distributed first keyways 105 are symmetrically formed on the sidewall of the inner conical hole 104. Each of the first keyways 105 has a radially distributed screw mounting hole 106 at its axial center. A spring collet 3 is provided inside the inner conical hole 104. The spring collet 3 includes a cylindrical section 301 and a conical section 302. The cylindrical section 301 extends into the inner cylindrical hole 103 and contacts the bottom of the cylinder 2. A plurality of circumferential slits 303 are evenly formed on the conical section 302. A pair of second keyways 304 are symmetrically formed on the outer wall of the bottom of the conical section 302. The positions of the first keyways 105 and the second keyways 304 correspond one-to-one and form two rectangular keyways. A sliding key 4 is provided in the rectangular keyway and is installed on the sidewall of the inner conical hole 104. An internal hexagonal hole 305 is formed on the inner wall of the conical section 302.

[0054] In the above technical solution, the spring collet 3 cooperates with the inner conical hole surface 104 of the spring collet seat 1. The cylinder 2 pulls the spring collet 3 to move upward and retract, and the inner conical hole surface 104 opens slightly, thereby adapting to the external hexagonal dimensions of hydraulic connectors of different specifications. This avoids the auxiliary time caused by frequent sleeve replacement and solves the technical problem that the existing hydraulic valve quick connector automated assembly unit is cumbersome to install and requires manual assistance.

[0055] Compared with similar products, the adaptive sleeve of the present invention is not affected by the hexagonal dimensional error of the hydraulic connector, has good adaptability and compatibility, reduces the requirements for the dimensional accuracy of the hexagonal blank surface of the hydraulic connector, and also eliminates the need to prepare sleeves of various specifications, thus achieving the purpose of cost reduction and efficiency improvement.

[0056] Four first bolt holes 5 are opened on the top end face of the inner cylindrical hole 103, and four second bolt holes 6 are opened on the cylinder 2. The first bolt holes 5 and the second bolt holes 6 are connected by a first bolt 7.

[0057] The second-step square hole 102 has two pairs of third bolt holes 8 symmetrically opened on its side wall, and the cylinder 4 has two pairs of fourth bolt holes 9 symmetrically opened on its side. The third bolt holes 8 and the fourth bolt holes 9 are connected by a second bolt.

[0058] The top of the cylindrical section 301 is provided with a through hole 11, and the cylinder rod 12 at the bottom of the cylinder 2 is threaded into the through hole 11.

[0059] The aforementioned adaptive sleeve uses a cylinder to pull the spring collet upward to retract, adapting to the external hexagonal dimensions of different specifications of hydraulic connectors. Alternatively, a hydraulic cylinder or other linear motion mechanism can be used instead. Or, the spring collet itself can be made into a hydraulic cylinder piston, using hydraulic clamping for adaptive adaptation and spring release.

[0060] The slide key 4 is mounted on the side wall of the inner conical hole 104 through the screw mounting hole 106 and the screw 18.

[0061] A method for automatic positioning and installation of hydraulic joints is also provided, see [link to relevant documentation]. Figure 7 The use of the adaptive sleeve for hydraulic joint installation includes the following steps:

[0062] Step 1: Place the hydraulic valve block 13 on the machine base 14. The robot electric screwdriver 15 drives the industrial camera 16 to scan the mounting surface of the hydraulic valve block 13, automatically identify the feature objects on the joint mounting surface, and obtain accurate images corresponding to each feature object.

[0063] The featured objects include planes, countersunk holes, bosses, round holes, and internal threaded holes;

[0064] Step 2: Using the coordinate origin of the robot electric screwdriver 15 as the working origin, perform analytical calculations on the precise image obtained in Step 1 to obtain the oil inlets S of the hydraulic valve block 13. n Size information;

[0065] The oil inlet S n Size information includes oil inlet S n Thread specifications and oil port S n Installation point coordinates (X n Y n Z n );

[0066] Step 3, use the following formula to determine the coordinates of the installation points (X) of each oil inlet. n Y n Z n Z-coordinate of ) n Compensation is performed to obtain the Z-axis installation point coordinates of the hydraulic joint. n That is, the coordinates of the installation points of each hydraulic joint are obtained as (X... n Y n Z n ');

[0067] Z n =Z n +h+1

[0068] Where: h is the hydraulic connector and hydraulic valve block 13 oil port S n The rotation and depth;

[0069] n represents the oil inlet number;

[0070] Step 4: Based on the installation point coordinates of each hydraulic joint obtained in Step 3, perform path optimization calculations to obtain the shortest path for the robot to move to install each hydraulic joint.

[0071] The shortest path described includes the installation sequence of each hydraulic joint and the movement path of the robot during the installation process;

[0072] Step 5, according to the oil passage port S of the hydraulic valve block 13 n with the thread specification, the robot automatically moves to the position of the hydraulic joint with the corresponding thread specification on the hydraulic joint fixture plate 17 to grasp the hydraulic joint;

[0073] where: S n represents the nth oil passage port, the value range of n is from 1 to N, and N represents the total number of oil passage ports on the hydraulic valve block;

[0074] Step 6, the robot automatically moves to the installation position coordinates of the hydraulic joint corresponding to the installation position coordinates of the oil passage port S n (X n , Y n , Z n '), and installs and tightens the hydraulic joint; when the set torque value of the hydraulic joint is reached, the cylinder rod 12 of the cylinder 4 extends, driving the spring collet 3 to move up and down along the sliding key 4 in the axial direction of the spring collet seat 1, the internal hexagonal hole 305 opens, the size S of the internal hexagonal hole 305 becomes larger, the spring collet 3 releases the hydraulic joint, and the robot retreats; [[ID=P24]]

[0075] Step 7, determine whether n < N is satisfied. If so, let n = n + 1, and return to execute Step 5. If not, end.

[0076] In the above technical solution, by using image recognition technology and intelligent path planning, the thread specification size, the installation position coordinates and the installation path of the hydraulic joint of the oil passage port of the hydraulic valve block are automatically obtained, which improves the automation level and work efficiency. Compared with the existing method of teaching the position and path of each oil passage port of the hydraulic valve block one by one, this method is simple to operate, has high position accuracy, saves time and effort, reduces the requirements for the professional technical level of workers, and is not affected by the machining dimension error of the oil passage port position of the hydraulic valve block, and has good adaptability and automation level.

[0077] Compensating and adding 1 to the Z - direction coordinate of the oil passage port is to avoid rigid collision between the joint end face and the surface of the oil passage port of the valve block.

[0078] The described action of grasping the joint is that the cylinder rod 12 of the cylinder retracts, driving the spring collet 3 to move up along the sliding key 4 in the axial direction of the spring collet seat 1, the internal hexagonal hole 305 shrinks, the size S of the internal hexagonal hole 305 becomes smaller, and the spring collet 3 grasps the joint tightly.

Claims

1. A method for automatically positioning and installing hydraulic joints, characterized in that, An adaptive sleeve for hydraulic joint installation is adopted; the adaptive sleeve for hydraulic joint installation includes a stepped spring collet seat (1), and the spring collet seat (1) is provided with a first stepped square hole (101), a second stepped square hole (102), an inner cylindrical hole (103) and an inner conical hole (104) in sequence along the vertical downward direction. The side length of the first stepped square hole (101) is greater than the diameter of the second stepped square hole (102), and the diameter of the circumscribed circle of the second stepped square hole (102) is greater than the diameter of the inner cylindrical hole (103). A cylinder (2) is provided in the second stepped square hole (102) and is fixed on the top end face of the inner cylindrical hole (103); A pair of axially distributed first keyways (105) are symmetrically provided on the sidewall of the inner conical hole (104). Each of the first keyways (105) has a radially distributed screw mounting hole (106) at its axial center. A spring collet (3) is provided inside the inner conical hole (104). The spring collet (3) includes a cylindrical section (301) and a conical section (302). The cylindrical section (301) extends into the inner cylindrical hole (103) and is in contact with the bottom of the cylinder (2). The conical segment (302) is provided with a plurality of slits (303) evenly distributed along its circumference. A pair of second keyways (304) are symmetrically provided on the outer wall of the bottom of the conical segment (302). The positions of the first keyway (105) and the second keyway (304) are in one-to-one correspondence and form two rectangular keyways. A sliding key (4) is provided in the rectangular keyway. The sliding key (4) is installed on the side wall of the inner conical hole (104). The inner wall of the conical segment (302) is provided with an internal hexagonal hole (305). The method specifically includes the following steps: Step 1: Place the hydraulic valve block (13) on the machine base (14). The robot electric screwdriver (15) drives the industrial camera (16) to scan the mounting surface of the hydraulic valve block (13), automatically identify the feature objects on the joint mounting surface, and obtain accurate images corresponding to each feature object. The featured objects include planes, countersunk holes, bosses, round holes, and internal threaded holes; Step 2: Using the origin of the robot electric screwdriver (15) as the working origin, perform analytical calculations on the precise image obtained in Step 1 to obtain the various oil inlets of the hydraulic valve block (13). Size information; The oil inlet Size information includes oil inlet Thread specifications and oil inlet Installation point coordinates ; Step 3: Use the following formula to determine the coordinates of the installation points of each oil inlet. of To coordinates Compensation is performed to obtain the hydraulic joint. To the coordinates of the installation point That is, the coordinates of the installation points of each hydraulic joint are obtained. ; in: For the oil inlet of the hydraulic connector and hydraulic valve block (13) The rotation and depth; Indicates the oil inlet number; Step 4: Based on the installation point coordinates of each hydraulic joint obtained in Step 3, perform path optimization calculations to obtain the shortest path for the robot to move to install each hydraulic joint. The shortest path includes the installation sequence of each hydraulic joint and the robot's movement path during the installation process; Step 5, according to the oil inlet of the hydraulic valve block (13) The robot automatically moves to the hydraulic connector fixture plate (17) according to the thread specification and grabs the hydraulic connector at the corresponding thread specification point. in: Indicates the first One oil vent, The value range is 1~ , This indicates the total number of oil ports on the hydraulic valve block; Step 6: The robot automatically moves to the oil inlet. The installation point coordinates of the hydraulic joint corresponding to the installation point coordinates At the location, the hydraulic connector is installed and tightened; when the set torque value of the hydraulic connector is reached, the cylinder rod (12) of the cylinder (2) extends, driving the spring collet (3) to move upward and downward along the slide key (4) in the spring collet seat (1) axial direction, the internal hexagonal hole (305) opens, the size S of the internal hexagonal hole (305) becomes larger, the spring collet (3) loosens the hydraulic connector, and the robot retracts; Step 7, determine if the condition is met. If so, then let If the above steps are not executed, proceed to step 5; otherwise, terminate the process.

2. The automatic positioning and installation method for hydraulic joints as described in claim 1, characterized in that, The inner cylindrical hole (103) has four first bolt holes (5) on its top end face, and the cylinder (2) has four second bolt holes (6). The first bolt holes (5) and the second bolt holes (6) are connected by a first bolt (7).

3. The automatic positioning and installation method for hydraulic joints as described in claim 1, characterized in that, The second stepped square hole (102) has two pairs of third bolt holes (8) symmetrically opened on its side wall, and the cylinder (2) has two pairs of fourth bolt holes (9) symmetrically opened on its side. The third bolt holes (8) and the fourth bolt holes (9) are connected by a second bolt.

4. The automatic positioning and installation method for hydraulic joints as described in claim 1, characterized in that, The top of the cylindrical section (301) is provided with a through hole (11), and the cylinder rod (12) at the bottom of the cylinder (2) is threaded into the through hole (11).

5. The automatic positioning and installation method for hydraulic joints as described in claim 1, characterized in that, The slide key (4) is mounted on the side wall of the inner conical hole (104) through the screw mounting hole (106) and the screw (18).

6. The automatic positioning and installation method for hydraulic joints as described in claim 1, characterized in that, In step 5, the specific action of gripping the hydraulic connector is as follows: the cylinder rod (12) of the cylinder (2) retracts, causing the spring collet (3) to move upward along the slide key (4) on the spring collet seat (1) axially, the internal hexagonal hole (305) contracts, the size S of the internal hexagonal hole (305) becomes smaller, and the spring collet (3) grips the hydraulic connector.

Images