High-torque hydraulic servo disassembly and assembly mechanism

Abstract

The present invention discloses a large-torque hydraulic servo disassembly and assembly mechanism, which includes a hydraulic system for large-torque hydraulic servo disassembly and assembly, a large-torque hydraulic servo disassembly and assembly frame, and a control system. The hydraulic system for large-torque hydraulic servo disassembly and assembly is mechanically connected to the large-torque hydraulic servo disassembly and assembly frame. The control system is electrically connected to the hydraulic system for large-torque hydraulic servo disassembly and assembly and the large-torque hydraulic servo disassembly and assembly frame respectively. The hydraulic system for large-torque hydraulic servo disassembly and assembly includes a constant-power load-sensitive pump. The oil outlet of the constant-power load-sensitive pump is respectively communicated with the main clamp cylinder control pipe group, the quick-rotation clamp cylinder control pipe group, the back clamp cylinder control pipe group and the oil return circuit. The control oil port of the constant-power load-sensitive pump is communicated with the feedback pipe group, and the feedback pipe group is also communicated with the oil return circuit. The present invention has the advantages that the pressure at the output oil port is always higher than the load pressure at the hydraulic cylinder by a set pressure, which is beneficial to meeting the driving requirements of the hydraulic cylinder; and it has small heat generation and is beneficial to saving energy consumption.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic servo disassembly and assembly, and particularly to a high-torque hydraulic servo disassembly and assembly mechanism. Background Art

[0002] When assembling tools, domestic equipment all adopts manual valve operation. Since the process of torque tightening is a process in which the clamping oil cylinder clamps the workpiece and the rotary buckle oil cylinder outputs dynamically. The clamping force is related to the oil pressure, and the rotary buckle torque - speed are respectively related to the oil pressure - flow rate. The process of rotary buckling is not easy to control dynamically, and it is necessary to achieve the performance that the rotary buckling speed gradually decreases as the torque increases. Some operators are prone to damage the workpiece due to too high clamping oil pressure. More often, due to the poor dynamic matching of the oil pressure - flow rate, when the target torque is reached, the speed of the oil cylinder is relatively fast, and the pressure exceeds the load too much, resulting in excessive torque.

[0003] Therefore, we propose a hydraulic system and mechanism for high-torque hydraulic servo disassembly and assembly. Summary of the Invention

[0004] The technical problem to be solved by the embodiments of the present invention is that the current hydraulic disassembly and assembly machine is prone to excessive torque.

[0005] To solve the above problems, an embodiment of the present invention provides a high-torque hydraulic servo disassembly and assembly mechanism, which includes a hydraulic system for high-torque hydraulic servo disassembly and assembly, a high-torque hydraulic servo disassembly and assembly frame, and a control system. The hydraulic system for high-torque hydraulic servo disassembly and assembly is mechanically connected to the high-torque hydraulic servo disassembly and assembly frame, and the control system is electrically connected to the hydraulic system for high-torque hydraulic servo disassembly and assembly and the high-torque hydraulic servo disassembly and assembly frame respectively. The hydraulic system for high-torque hydraulic servo disassembly and assembly includes a constant power load-sensing pump. The oil outlet of the constant power load-sensing pump is respectively connected to the main tong cylinder control pipe group, the quick-rotation tong cylinder control pipe group, the back tong cylinder control pipe group, and the oil return circuit. The control oil port of the constant power load-sensing pump is connected to the feedback pipe group, and the feedback pipe group is also connected to the oil return circuit. The main tong cylinder control pipe group is respectively connected to the main tong cylinder and the oil return circuit. The quick-rotation tong cylinder control pipe group is respectively connected to the quick-rotation tong cylinder, the feedback pipe group, and the oil return circuit. The back tong cylinder control pipe group is respectively connected to the back tong cylinder and the oil return circuit. The high-torque hydraulic servo disassembly and assembly frame includes a quick-rotation tong, a main tong, a back tong, and a base. The quick-rotation tong is arranged at one end of the base. The main tong is arranged between the quick-rotation tong and the back tong. A circulating conveyor chain structure is arranged on the base. The back tong is connected to the circulating conveyor chain structure on the base and can be driven to move. The main tong is provided with two symmetrical rocker arms, and six tong cylinders are further arranged outside its dodecagonal cylinder seat. The back tong is used for the structure of applying reverse torque to the workpiece, and a synchronous flow divider integrally designed with the cylinder seat is arranged at the top of both it and the main tong. The base adopts a box girder structure and is welded by hot-rolled steel plates. The quick-rotation tong is a structure in which 4 BM5 series low-speed high-torque motors directly drive 4 friction wheels. The feedback pipe group includes a first proportional throttle valve, a second proportional throttle valve, and a shuttle valve. The shuttle valve is respectively connected to the first proportional throttle valve, the second proportional throttle valve, and the control oil port of the constant power load-sensing pump. The first proportional throttle valve and the second proportional throttle valve are also respectively connected to the quick-rotation tong cylinder control pipe group. The first proportional throttle valve and the second proportional throttle valve are controlled by the control system to adjust the area of the throttle valve port, and further adjust the pressure difference between the inlet and outlet of the throttle valve to control the flow rate of the load-sensing pump.

[0006] Optionally, the main tong cylinder control pipe group includes a first proportional relief valve, a first multi-way valve, and a first hydraulic control check valve. The first multi-way valve is respectively connected to the oil outlet of the constant power load-sensing pump, the first proportional relief valve, the two outlets of the first hydraulic control check valve, and the oil return circuit. The first proportional relief valve is respectively connected to the first hydraulic control check valve, the first multi-way valve, and the main tong cylinder.

[0007] Optionally, the quick-rotation tongs oil cylinder control pipe group includes a second multi-way valve, a second proportional relief valve, and a third proportional relief valve. The second multi-way valve is respectively connected to the second proportional relief valve, the third proportional relief valve, the oil outlet of the constant-power load-sensitive pump, the feedback pipe group, and the return oil circuit. The second proportional relief valve is connected to the quick-rotation tongs oil cylinder pipeline. The third proportional relief valve is also connected to the feedback pipe group and the quick-rotation tongs oil cylinder pipeline.

[0008] Optionally, the back-up tongs oil cylinder control pipe group includes a third multi-way valve, a fourth proportional relief valve, and a second hydraulic control check valve. The third multi-way valve is respectively connected to the oil outlet of the constant-power load-sensitive pump, the fourth proportional relief valve, the second hydraulic control check valve, and the return oil circuit. The fourth proportional relief valve is connected to the back-up tongs oil cylinder. The second hydraulic control check valve is also connected to the fourth proportional relief valve and the back-up tongs oil cylinder.

[0009] Optionally, the quick-rotation tongs are connected to the quick-rotation tongs oil cylinder, the main tongs are connected to the main tongs oil cylinder, and the back-up tongs are connected to the back-up tongs oil cylinder.

[0010] Optionally, the control system includes a tension and pressure sensor. The detection part of the tension and pressure sensor is arranged on the back-up tongs to measure the torque of the main tongs.

[0011] Optionally, the control system further includes a host computer, and the host computer includes:

[0012] A signal acquisition module, configured to acquire the pressure signal of the tension and pressure sensor and the flow signals and current signals of the first proportional throttle valve, the second proportional throttle valve, the first proportional relief valve, the second proportional relief valve, the third proportional relief valve, and the fourth proportional relief valve in the hydraulic system of the large-torque hydraulic servo disassembly and assembly, and send them to the learning module;

[0013] A learning module, configured to perform fitting according to the flow signals and current signals of the proportional valves to form a flow-current characteristic curve of the proportional valves; perform fitting according to the pressure signals and current signals to form a pressure-current characteristic curve of the proportional valves; according to the formula that the torque is the product of the pressure value and the force arm, form a torque-bucking pressure characteristic curve and a torque-clamping pressure characteristic curve, and send them to the storage module;

[0014] A storage module, configured to store the characteristic curves formed in the learning module;

[0015] A calculation module, configured to calculate the bucking pressure current coefficient x, the clamping pressure current coefficient y, and the bucking flow coefficient δP according to multiple torque values and the characteristic curves in the storage module;

[0016] A processing module is used to control the hydraulic system of the high-torque hydraulic servo disassembly and assembly according to the set torque value and the coefficient in the calculation module, so that the actual torque value approaches the set torque value. When the actual torque value reaches within the range of 30 - 45% of the set torque value, the hydraulic system of the high-torque hydraulic servo disassembly and assembly is controlled to operate with a punching and buckling flow coefficient of 0.5 times. When the actual torque value reaches within the range of 70 - 85% of the set torque value and does not increase within 2 - 4 seconds, a micro current pulse is provided to continue pressurizing until the set torque is reached.

[0017] Compared with the prior art, the technical effects that can be achieved by the embodiments of the present invention include:

[0018] By setting a constant power load-sensitive pump, whose performance curve is that the flow rate is inversely proportional to the pressure. Under the principle that this control mode conforms to the situation where when tightening the torque, as the reverse torque increases, the oil pressure rises while the flow rate decreases and the cylinder speed decreases, it can also play a control role where the change of the load pressure has nothing to do with the flow control, making the pressure at the output oil port always higher than the load pressure at the hydraulic cylinder by a set pressure, which is beneficial to meeting the driving requirements of the hydraulic cylinder; it has small heat generation and is conducive to saving energy consumption.

[0019] By setting a control system to control the pressure and speed of the hydraulic system for screwing of the high-torque hydraulic servo disassembly and assembly, the torque adaptability is realized, and the degree of automation is relatively high. It avoids the situation that requires staff to operate and monitor in real time, reduces potential safety hazards, and does not cause the situation where the torque exceeds and the workpiece is damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments that conform to the present invention, and are used together with the specification to explain the principles of the present invention.

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0022] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the drawings in the drawings do not constitute a proportional limitation.

[0023] Figure 1 It is the structural diagram of the high-torque hydraulic servo disassembly and assembly frame of the present invention;

[0024] Figure 2 It is the structural diagram of the quick screwing pliers of the present invention;

[0025] Figure 3 This is the structural diagram of the main clamp of the present invention;

[0026] Figure 4 This is the structural diagram of the back clamp of the present invention;

[0027] Figure 5 This is the schematic structural diagram of the hydraulic system for high-torque hydraulic servo disassembly and assembly of the present invention;

[0028] Figure 6 is Figure 5 partial enlarged structural view of;

[0029] Figure 7 This is the module diagram of the control system of the present invention.

[0030] Reference Signs

[0031] 1. Control system; 2. High-torque hydraulic servo disassembly and assembly frame; 3. Hydraulic system for high-torque hydraulic servo disassembly and assembly; 4. Quick-rotation clamp; 5. Main clamp; 6. Back clamp; 7. Base; 8. Circulating conveyor chain structure; 9. Synchronous flow divider; 10. Constant power load-sensitive pump; 11. Main clamp cylinder control pipe group; 12. Quick-rotation clamp cylinder control pipe group; 13. Back clamp cylinder control pipe group; 14. Return oil circuit; 15. Feedback pipe group; 16. Main clamp cylinder; 17. Quick-rotation clamp cylinder; 18. Back clamp cylinder; 19. First proportional relief valve; 20. First multi-way valve; 21. First hydraulic control check valve; 22. Second multi-way valve; 23. Second proportional relief valve; 24. Third proportional relief valve; 25. Third multi-way valve; 26. Fourth proportional relief valve; 27. Second hydraulic control check valve; 28. First proportional throttle valve; 29. Second proportional throttle valve; 30. Shuttle valve; 31. Electromagnetic unloading valve; 32. Tensile and compressive force sensor; 33. Host computer; 34. Signal acquisition module; 35. Learning module; 36. Storage module; 37. Calculation module; 38. Processing module. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Similar component numbers in the drawings represent similar components. Obviously, the embodiments to be described below are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or their combinations.

[0034] It should also be understood that the terms used in the description of the embodiments of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of the present invention. As used in the description of the embodiments of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0035] Please refer to Figures 1-7 , an embodiment of the present invention provides a high-torque hydraulic servo disassembly and assembly mechanism, including a control system 1, a high-torque hydraulic servo disassembly and assembly frame 2 and a hydraulic system 3 for high-torque hydraulic servo disassembly and assembly. The hydraulic system 3 for high-torque hydraulic servo disassembly and assembly is mechanically connected to the high-torque hydraulic servo disassembly and assembly frame 2, and the control system 1 is electrically connected to the hydraulic system 3 for high-torque hydraulic servo disassembly and assembly and the high-torque hydraulic servo disassembly and assembly frame 2 respectively. The control system 1 collects, processes and analyzes the current signal, flow signal of the hydraulic system 3 for high-torque hydraulic servo disassembly and assembly and the pressure signal of the workpiece acting on the high-torque hydraulic servo disassembly and assembly frame 2, so as to avoid the situation of torque overrun and workpiece damage during the process of screwing on and unscrewing the workpiece.

[0036] Please refer to Figures 1-4 , the high-torque hydraulic servo disassembly and assembly frame 2 of the present invention includes a quick-rotation clamp 4, a main clamp 5, a back clamp 6 and a base 7. The quick-rotation clamp 4 is arranged at one end of the base 7, the main clamp 5 is arranged between the quick-rotation clamp 4 and the back clamp 6, a circulating conveyor chain structure 8 is arranged on the base 7, and the back clamp 6 is connected to the circulating conveyor chain structure 8 on the base 7 and can be driven to move. Among them, the main clamp 5 is a structure for applying tightening torque to the workpiece, and both it and the back clamp 6 adopt a conventional splint type structure. The main clamp 5 is provided with two symmetrical rocker arms, and six clamp cylinders are also arranged outside its dodecagonal cylinder seat. The back clamp 6 is a structure for applying counter torque to the workpiece, and a synchronous flow divider 9 integrally designed with the cylinder seat is arranged at the top of both it and the main clamp 5. In this way, the height of the clamp mouth is reduced, and at the same time, when unscrewing, the rubber hose and the cylinder seat are relatively stationary, which is beneficial to improving the service life of the rubber hose; the setting of the circulating conveyor chain structure 8 can not only transmit power, but also play a role in guiding and limiting the back clamp 6.

[0037] Please continue to refer to Figure 1 , preferably, the base 7 adopts a box beam structure and is welded by hot-rolled steel plates, having high structural strength.

[0038] Please continue to refer toFigure 2 , the quick-rotation tong 4 of the present invention is a device for threading and quick screwing. It adopts a wheel-frame structure, specifically a structure in which 4 BM5 series low-speed high-torque motors directly drive 4 friction wheels. The maximum torque of a single BM5 series low-speed high-torque motor is 1.3 kN·m, and the maximum torque of 4 motors can reach about 5 kN·m. The reduction ratio for clamping the workpiece enables the maximum screwing torque to be about 10 kN·m. In this way, it is beneficial to increase the pre-tightening torque of the thread.

[0039] Please refer to Figure 5 , the hydraulic system 3 for high-torque hydraulic servo disassembly and assembly of the present invention includes a constant-power load-sensitive pump 10, a master tong cylinder control pipe group 11, a quick-rotation tong cylinder control pipe group 12, a back tong cylinder control pipe group 13, and an oil return circuit 14. The oil outlet of the constant-power load-sensitive pump 10 is respectively connected to the master tong cylinder control pipe group 11, the quick-rotation tong cylinder control pipe group 12, the back tong cylinder control pipe group 13, and the oil return circuit 14. The feedback pipe group 15 is connected to the control oil port of the constant-power load-sensitive pump 10 and the oil return circuit 14. The master tong cylinder control pipe group 11 is respectively connected to the master tong cylinder 16 and the oil return circuit 14. The quick-rotation tong cylinder control pipe group 12 is respectively connected to the quick-rotation tong cylinder 17, the feedback pipe group 15, and the oil return circuit 14. The back tong cylinder control pipe group 13 is respectively connected to the back tong cylinder 18 and the oil return circuit 14. By setting the constant-power load-sensitive pump 10 in the present invention, whose performance curve is that the flow rate is inversely proportional to the pressure, under the principle that when this control mode conforms to the tightening torque, as the reverse torque increases, the oil pressure rises while the flow rate decreases and the cylinder speed decreases, it can also play a control role where the change in the load pressure has nothing to do with the flow control, making the pressure at the output oil port always higher than the load pressure at the hydraulic cylinder by a set pressure, which is beneficial to meeting the driving requirements of the cylinder; it generates less heat and is beneficial to saving energy consumption.

[0040] Please refer to Figure 6, the main tong cylinder control pipe group 11 of the present invention includes a first proportional relief valve 19, a first multi-way valve 20 and a first hydraulic control check valve 21. The first multi-way valve 20 is respectively connected to the oil outlet of the constant power load sensing pump 10, the first proportional relief valve 19, the two outlets of the first hydraulic control check valve 21 and the return oil circuit 14. The first proportional relief valve 19 is respectively connected to the first hydraulic control check valve 21, the first multi-way valve 20 and the main tong cylinder 16; the quick-rotation tong cylinder control pipe group 12 includes a second multi-way valve 22, a second proportional relief valve 23 and a third proportional relief valve 24. The second multi-way valve 22 is respectively connected to the second proportional relief valve 23, the third proportional relief valve 24, the oil outlet of the constant power load sensing pump 10, the feedback pipe group 15 and the return oil circuit 14. The second proportional relief valve 23 is connected to the quick-rotation tong cylinder 17 through a pipeline, and the third proportional relief valve 24 is also connected to the feedback pipe group 15 and the quick-rotation tong cylinder 17 through a pipeline; the back tong cylinder control pipe group 13 includes a third multi-way valve 25, a fourth proportional relief valve 26 and a second hydraulic control check valve 27. The third multi-way valve 25 is respectively connected to the oil outlet of the constant power load sensing pump 10, the fourth proportional relief valve 26, the second hydraulic control check valve 27 and the return oil circuit 14. The fourth proportional relief valve 26 is connected to the back tong cylinder 18, and the second hydraulic control check valve 27 is also connected to the fourth proportional relief valve 26 and the back tong cylinder 18. Among them, the main tong cylinder 16 is mechanically connected to the main tong 5, the quick-rotation tong cylinder 4 is mechanically connected to the quick-rotation tong 4, and the back tong cylinder 18 is mechanically connected to the back tong 6. The settings of the first multi-way valve 20, the second multi-way valve 22 and the third multi-way valve 25 provide direction control for the clamping of the main tong 5, the clamping of the back tong 6, the rotation of the quick-rotation tong 4 and the tightening of the rotary buckle. The settings of the first proportional relief valve 19, the second proportional relief valve 23, the third proportional relief valve 24 and the fourth proportional relief valve 26 can be controlled by the control system 1 to realize the control of the spring compression amount of the relief valve, and further realize the adjustment of the pressure at the relief valve port.

[0041] Please continue to refer to Figure 6 , the feedback pipe group 15 of the present invention includes a first proportional throttle valve 28, a second proportional throttle valve 29 and a shuttle valve 30. The shuttle valve 30 is respectively connected to the first proportional throttle valve 28, the second proportional throttle valve 29 and the control oil port of the constant power load sensing pump 10. The first proportional throttle valve 28 and the second proportional throttle valve 29 are also respectively connected to the quick-rotation tong cylinder control pipe group 12. The settings of the first proportional throttle valve 28 and the second proportional throttle valve 29 can be controlled by the control system 1 to realize the adjustment of the throttle valve port area, and further realize the adjustment of the pressure difference between the inlet and outlet of the throttle valve.

[0042] Please continue to refer to Figure 5 , an electromagnetic unloading valve 31 is also connected to the return oil circuit 14. When the upper tightening torque operation is completed, the electromagnetic unloading valve 31 unloads under the control of the control system 1.

[0043] Please refer to Figure 7, the control system 1 of the present invention includes a tensile and compressive force sensor 32 and a host computer 33. The detection part of the tensile and compressive force sensor 32 is arranged on the back clamp 6 and is used to measure the tensile and compressive force value at the main clamp 5, and then measure the torque of the main clamp 5 when screwing on and off the workpiece through the tensile and compressive force value; the host computer 33 is used to perform self-learning of the pressure-torque characteristic curve and the pressure-current characteristic curve according to the collected signals, and combine the set torque value to set the opening degree of each proportional valve in the hydraulic system 3 for large-torque hydraulic servo disassembly and assembly, so as to control the pressure of the main clamp cylinder 16 and the back clamp cylinder 18, the pressure and speed of the quick-rotation clamp cylinder 17, so as to realize the adaptive adjustment of the target torque. Through self-learning and continuous adjustment during the screwing-on process, the possibility of torque overshoot will not easily occur after reaching the target torque, which increases the protection of the workpiece and reduces the safety hazard. Among them, the host computer 33 can quickly calculate the torque according to the formula that the torque is the product of the tensile and compressive force value and the force arm under the condition that the force arm of the equipment is known.

[0044] Please continue to refer to Figure 7, the host computer 33 includes a signal acquisition module 34, a learning module 35, a storage module 36, a calculation module 37, and a processing module 38. The signal acquisition module 34 is used to collect the pressure signal of the pull-pressure sensor 32 and the flow signals and current signals of the first proportional throttle valve 28, the second proportional throttle valve 29, the first proportional relief valve 19, the second proportional relief valve 23, the third proportional relief valve 24, and the fourth proportional relief valve 26 in the hydraulic system 3 of the large-torque hydraulic servo disassembly and assembly, and send them to the learning module 35; the learning module 35 fits according to the flow signal and the current signal to form a flow-current characteristic curve of the proportional valve, fits according to the pressure signal and the current signal to form a pressure-current characteristic curve of the proportional valve, and forms a torque-buckle pressure characteristic curve and a torque-clamping pressure characteristic curve according to the formula that the torque is the product of the pressure value and the force arm, and sends them to the storage module 36 for storage; the calculation module 37 calculates the buckle pressure current coefficient x, the clamping pressure current coefficient y, and the buckle flow coefficient δP according to multiple actually measured torque values and the characteristic curves stored in the storage module 36; the processing module 38 controls the hydraulic system 3 of the large-torque hydraulic servo disassembly and assembly according to the set torque value and the coefficients in the calculation module 37 so that the actual torque value approaches the set torque value. When the actual torque value reaches 30-45% of the set torque value, control the hydraulic system 3 of the large-torque hydraulic servo disassembly and assembly to operate at 0.5 times the buckle flow coefficient. When the actual torque value reaches 70-85% of the set torque value and does not increase within 2-4 seconds, provide a micro-current pulse to continue pressurizing until the set torque is reached. When the actual torque value reaches 70-85% of the set torque value and does not increase within 2-4 seconds, it means that the current make-up stage has reached the limit of the hydraulic pressure provided by the current second proportional relief valve 23 and the third proportional relief valve 24. By performing the screwing operation on the workpiece with a micro-current pulse at a certain frequency, it is not only beneficial to steadily make the actual torque value reach the preset value, but also not easy to make the torque exceed, and it has good operability. During the torque make-up process of the control system 1, the clamping pressure and the screwing torque are detected in real time, and the make-up process is controlled in real time through the constant power load-sensitive pump 10 and the feedback pipe group 15, realizing the control of the screwing torque and speed, with a high degree of automation, which is beneficial to saving the cost of manual real-time monitoring and operation.

[0045] According to the set torque value, the calculation module 37 calculates the hydraulic pressure required for the clamping force, applies signals to the first proportional overflow valve 19 and the fourth proportional overflow valve 26 corresponding to the master tong cylinder 16 and the back tong cylinder 18, and provides the required hydraulic pressure; calculates the hydraulic pressure and speed required for the make-up torque, applies signals to the second proportional overflow valve 23 and the third proportional overflow valve 24 of the quick tong cylinder, provides the required hydraulic pressure, and at the same time adjusts the pressure difference between the inlets and outlets of the first proportional throttle valve 28 and the second proportional throttle valve 29 according to the real-time torque value. After increasing the pressure difference, a signal is sent to the constant power load sensing pump 10 through the shuttle valve 30 to increase its flow rate; after reducing the pressure difference, the flow rate decreases and the cylinder speed becomes correspondingly smaller.

[0046] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0047] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0048] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined.

[0049] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a connection, a detachable connection, or an integral body; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0050] In the present invention, unless otherwise clearly specified or limited, the first feature being "on" or "under" the second feature may include direct contact between the first and second features, or may include indirect contact between the first and second features through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the horizontal height of the first feature is lower than that of the second feature.

[0051] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0052] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these changes and modifications.

[0053] As described above, the above is the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A high-torque hydraulic servo disassembly and assembly mechanism, characterized in that: A hydraulic system including a high-torque hydraulic servo disassembly and assembly device, a high-torque hydraulic servo disassembly and assembly frame, and a control system. The hydraulic system of the high-torque hydraulic servo disassembly and assembly device is mechanically connected to the high-torque hydraulic servo disassembly and assembly frame. The control system is electrically connected to the hydraulic system of the high-torque hydraulic servo disassembly and assembly device and the high-torque hydraulic servo disassembly and assembly frame respectively. The hydraulic system of the high-torque hydraulic servo disassembly and assembly device includes a constant power load sensing pump. The oil outlet of the constant power load sensing pump is respectively connected to the main clamp cylinder control pipe group, the quick rotation clamp cylinder control pipe group, the back clamp cylinder control pipe group, and the return oil path. The control oil port of the constant power load sensing pump is connected to the feedback pipe group, and the feedback pipe group is also connected to the return oil path. The main clamp cylinder control pipe group is respectively connected to the main clamp cylinder and the return oil path. The quick rotation clamp cylinder control pipe group is respectively connected to the quick rotation clamp cylinder, the feedback pipe group, and the return oil path. The back clamp cylinder control pipe group is respectively connected to the back clamp cylinder and the return oil path. The high-torque hydraulic servo disassembly and assembly frame includes a quick rotation clamp, a main clamp, a back clamp, and a base. The quick rotation clamp is arranged at one end of the base. The main clamp is arranged between the quick rotation clamp and the back clamp. A circulating conveyor chain structure is arranged on the base. The back clamp is connected to the circulating conveyor chain structure on the base and can be driven to move. The main clamp is provided with two symmetrical rocker arms, and six clamp cylinders are further arranged outside its dodecagonal cylinder seat. The back clamp is used for the structure of applying reverse torque to the workpiece, and a synchronous flow divider integrally designed with the cylinder seat is arranged at the top of both the back clamp and the main clamp. The base adopts a box girder structure and is welded by hot-rolled steel plates. The quick rotation clamp is a structure in which 4 BM5 series low-speed high-torque motors directly drive 4 friction wheels. The feedback pipe group includes a first proportional throttle valve, a second proportional throttle valve, and a shuttle valve. The shuttle valve is respectively connected to the first proportional throttle valve, the second proportional throttle valve, and the control oil port of the constant power load sensing pump. The first proportional throttle valve and the second proportional throttle valve are also respectively connected to the quick rotation clamp cylinder control pipe group. The first proportional throttle valve and the second proportional throttle valve are controlled by the control system to adjust the area of the throttle valve orifice, and further adjust the pressure difference between the inlet and outlet of the throttle valve to control the flow rate of the load sensing pump.

2. The large-torque hydraulic servo disassembly and assembly mechanism according to claim 1, characterized in that: The main clamp cylinder control pipe group includes a first proportional relief valve, a first multi-way valve, and a first hydraulic control check valve. The first multi-way valve is respectively connected to the oil outlet of the constant power load sensing pump, the first proportional relief valve, the two outlets of the first hydraulic control check valve, and the return oil path. The first proportional relief valve is respectively connected to the first hydraulic control check valve, the first multi-way valve, and the main clamp cylinder.

3. The large-torque hydraulic servo disassembly and assembly mechanism according to claim 2, wherein: The quick rotation clamp cylinder control pipe group includes a second multi-way valve, a second proportional relief valve, and a third proportional relief valve. The second multi-way valve is respectively connected to the second proportional relief valve, the third proportional relief valve, the oil outlet of the constant power load sensing pump, the feedback pipe group, and the return oil path. The second proportional relief valve is connected to the quick rotation clamp cylinder pipeline. The third proportional relief valve is also connected to the feedback pipe group and the quick rotation clamp cylinder pipeline.

4. A large-torque hydraulic servo disassembly and assembly mechanism according to claim 3, characterized in that: The back clamp oil cylinder control pipe group includes a third multi-way valve, a fourth proportional relief valve and a second hydraulic control check valve. The third multi-way valve is respectively communicated with the oil outlet of the constant power load sensing pump, the fourth proportional relief valve, the second hydraulic control check valve and the oil return circuit. The fourth proportional relief valve is communicated with the back clamp oil cylinder. The second hydraulic control check valve is also communicated with the fourth proportional relief valve and the back clamp oil cylinder.

5. The high-torque hydraulic servo disassembly and assembly mechanism according to claim 1, characterized in that: The quick rotation clamp is connected with a quick rotation clamp oil cylinder, the main clamp is connected with a main clamp oil cylinder, and the back clamp is connected with a back clamp oil cylinder.

6. The large-torque hydraulic servo disassembly and assembly mechanism according to claim 4, characterized in that: The control system includes a tension and pressure sensor. The detection part of the tension and pressure sensor is arranged on the back clamp for measuring the torque of the main clamp.

7. The high-torque hydraulic servo disassembly and assembly mechanism according to claim 6, characterized in that: The control system further includes a host computer, which includes: A signal acquisition module, which is used to acquire the pressure signal of the tension and pressure sensor and the flow signals and current signals of the first proportional throttle valve, the second proportional throttle valve, the first proportional relief valve, the second proportional relief valve, the third proportional relief valve and the fourth proportional relief valve in the hydraulic system of the high-torque hydraulic servo disassembly and assembly, and send them to the learning module; A learning module, which is used to fit according to the flow signal and current signal of the proportional valve to form a flow-current characteristic curve of the proportional valve; fit according to the pressure signal and current signal to form a pressure-current characteristic curve of the proportional valve; according to the formula that the torque is the product of the pressure value and the force arm, form a torque-bucking pressure characteristic curve and a torque-clamping pressure characteristic curve, and send them to the storage module; A storage module, which is used to store the characteristic curves formed in the learning module; A calculation module, which is used to calculate the bucking pressure current coefficient x, the clamping pressure current coefficient y and the bucking flow coefficient δP according to multiple torque values and the characteristic curves in the storage module; A processing module, which is used to control the hydraulic system of the high-torque hydraulic servo disassembly and assembly according to the set torque value and the coefficients in the calculation module so that the actual torque value approaches the set torque value. When the actual torque value reaches 30-45% of the set torque value, control the hydraulic system of the high-torque hydraulic servo disassembly and assembly to operate at 0.5 times the bucking flow coefficient. When the actual torque value reaches 70-85% of the set torque value and does not increase within 2-4 seconds, provide a micro current pulse to continue pressurizing until the set torque is reached.

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