Hydraulic wrist

Abstract

The utility model discloses a hydraulic wrist, which relates to the technical field of hydraulic wrists, and comprises an upper part body, a middle body, a lower part body and a clamp body, the upper part body is rotatably connected on the middle body, the middle body can drive the lower part body to do forward and reverse circular motion, and the clamp body is detachably sleeved on the lower part body; the lower body comprises a shell, a connecting disc is arranged on the side, close to the base, of the shell, the lower body is detachably connected with the gear ring through the connecting disc, a movable hook is arranged in the shell and comprises a front jaw, a rear jaw is formed in one end of the shell in the direction away from the front jaw, and a driving mechanism is arranged on the movable hook. According to the utility model, through the change of the structure, the original quick-change device is cancelled, so that the whole structure is more compact, the whole height and weight are reduced, the universality is improved, and the acting force on accessories is more concentrated.

Description

Technical Field

[0001] The utility model relates to the technical field of hydraulic wrists, and particularly relates to a hydraulic wrist. Background Art

[0002] A universal connector, also known as a hydraulic wrist, is installed between the boom and the bucket of an excavator, and uses the telescopic cylinder to achieve the angle swing function.

[0003] Currently, the buckets connected to the hydraulic wrist have a conventional series and an S series. See the appendix Figure 1 The figure shows a bucket of the conventional series. The two shafts of the conventional bucket attachment can be freely disassembled, there is an arch between the two shafts, and there is a side sleeve for fixing the two shafts beside.

[0004] See the appendix Figure 2 The figure shows a bucket of the S series. The two shafts of the bucket attachment equipped with the S series are welded to the attachment, there is no arch between the two shafts, and there is no side sleeve beside. It belongs to a niche product and is not the equipment carried by the original vehicle at the factory.

[0005] The existing hydraulic wrists on the market mainly have the following problems: 1. The overlapping methods of the conventional bucket and the S series bucket are different and cannot be used interchangeably. When the hydraulic wrist on the market is connected to the S series bucket, the main purpose is to shorten the distance between the upper and lower shafts to improve the swing force on the attachment. The attached attachment must be of the S series connection method and cannot carry an attachment of the conventional connection method. Therefore, when purchasing this product, it is necessary to replace or purchase a matching attached attachment, which requires workers to transport and place all the supporting attachments in place during operation, increasing the additional labor and transportation costs.

[0006] 2. Due to the limitation of the first point, when it is necessary to quickly switch between the original factory and the attachment supporting this equipment, a quick change device must be overlapped on the hydraulic wrist. However, due to the addition of the quick change device, the distance between the upper and lower shafts of the entire hydraulic wrist is not actually shortened, resulting in a very long operating lever arm for attachments such as the bucket, affecting the bearing capacity.

[0007] To sum up, based on the above two problems, the main problems of the existing hydraulic wrists are low versatility, inability to achieve quick conversion connection with conventional and S series buckets, resulting in an increase in transportation costs, and the quick change device increases the overall height and weight of the hydraulic wrist body, resulting in a very long operating lever arm for attachments such as the bucket, affecting the bearing capacity.

[0008] Therefore, there is an urgent need for a hydraulic wrist to improve the versatility of the hydraulic wrist itself, reduce the overall height and weight, and make the force on the attachment more concentrated. Summary of the Utility Model

[0009] In view of the above technical problems, the present utility model provides a hydraulic wrist, which is used to solve the problems of the existing hydraulic wrist with low versatility, inability to achieve quick conversion connection with conventional and S-series buckets, resulting in an increase in transportation costs, and the quick-change device increases the overall height and weight of the hydraulic wrist body, resulting in a very long operating lever arm of attachments such as buckets and affecting the bearing capacity.

[0010] The above technical objectives of the present utility model are achieved through the following technical solutions:

[0011] A hydraulic wrist includes an upper body, an intermediate body, a lower body, and a clip body. The upper body is rotatably connected to the intermediate body. The intermediate body can drive the lower body to perform forward and reverse circular motions. The clip body is detachably sleeved on the lower body;

[0012] The upper body includes a frame body. On both sides of one end of the frame body, a first swing drive cylinder and a second swing drive cylinder are respectively provided. At both the front and rear ends of the upper body, first hinge seats are provided. Inside the upper body, a front shaft and a rear shaft are arranged in parallel;

[0013] The intermediate body includes a base. One end of the base is respectively hinged to the output ends of the corresponding first swing drive cylinder and the second swing drive cylinder. At the other end of the base, two synchronously operating drive motors are vertically provided. On one side of the base away from the drive motors, a connection ring is provided. A toothed ring is rotatably provided on the connection ring. A toothed circle is provided on the outer ring of the toothed ring. A drive gear is provided at one end of the output end of the drive motor and is located on the toothed circle. The drive gear meshes with the toothed circle;

[0014] The lower body includes a housing. A connection disk is provided on one side of the housing close to the base. The lower body is detachably connected to the toothed ring through the connection disk. An active hook is provided inside the housing. The active hook includes a front tiger mouth. At one end of the housing, a rear tiger mouth is opened in the direction away from the front tiger mouth. A drive mechanism is provided on the active hook. The active hook makes an approaching motion relative to the rear tiger mouth under the action of the drive mechanism.

[0015] Further, the active hook further includes a guide block. A hinge portion is provided on the guide block. A guide groove is provided on the housing corresponding to the guide block and along the movement path of the active hook. The length of the guide groove is not less than the maximum distance between the front tiger mouth and the rear tiger mouth.

[0016] Further, the drive mechanism includes a flat push drive cylinder. One end of the flat push drive cylinder is movably connected inside the housing. The output end of the flat push drive cylinder is hinged to the active hook. An elastic member is also sleeved on the cylinder body of the flat push drive cylinder. The elastic member provides a forward elastic force for the active hook. The elastic force of the elastic member is greater than the gravity of the active hook.

[0017] Further, a rotating seat is provided at the positions of the upper body where the first swing drive cylinder and the second swing drive cylinder are located, and the rotating seat is respectively rotatably connected to the cylinders of the first swing drive cylinder and the second swing drive cylinder.

[0018] Further, the first hinge seat includes two plate members arranged in parallel, a connecting plate is provided between the two plate members, and a through hole is opened at the central position of the connecting plate.

[0019] Further, a second hinge seat is provided at the position of the base corresponding to the first hinge seat. A hinge hole is opened through the joint of the first hinge seat and the second hinge seat. A main shaft is provided in the hinge hole, and an oil injection hole is provided at the top of the second hinge seat.

[0020] Further, the clip body includes a U-shaped frame. The U-shaped frame is provided with a U-shaped connecting plate. Reinforcing plates are arranged in parallel on both sides of the U-shaped connecting plate. One end of the U-shaped frame is hinged with a left drive cylinder and a right drive cylinder through the reinforcing plates. The other end of the U-shaped frame is hinged with a left clamping arm and a right clamping arm. The output end of the left drive cylinder is hinged with the left clamping arm, and the output end of the right drive cylinder is hinged with the right clamping arm. A connecting rod is hinged between the sides of the left clamping arm and the right clamping arm that are close to each other.

[0021] Further, bayonets and pin holes are respectively provided at both ends of the housing, and a rotating shaft and a connecting pin are respectively provided at the positions of the clip body corresponding to the bayonets and the pin holes.

[0022] Further, connection ports are opened at the positions of the U-shaped connecting plate where the left drive cylinder and the right drive cylinder are located.

[0023] Further, anti-detachment parts are provided at one ends of the front axle and the rear axle. L-shaped limit parts are provided on both sides of the upper body at the positions of the anti-detachment parts. An anti-detachment bolt is also provided between the anti-detachment part and the upper body.

[0024] In summary, the beneficial technical effects of the present utility model are as follows:

[0025] (1) By using the tight connection of the upper body, the intermediate body, the lower body and the clip body, the original quick-change device is cancelled. On the basis of improving the versatility of the hydraulic wrist, the transportation cost, the overall height and weight are reduced, the load on the boom of the excavator is reduced, and the acting force on the attachment is made more sufficient and concentrated. At the same time, the engagement of the drive gear and the gear ring is used to replace the original worm and worm gear, further reducing the height of the hydraulic wrist. And by vertically arranging two drive motors on the base, not only the torque during the rotation of the lower body is increased, but also the width of the hydraulic wrist is reduced, enabling it to operate in a narrow space and avoiding collisions with objects during rotation.

[0026] (2) By using a flat-push driving cylinder to control the sliding of the movable hook along the guiding groove, the change in the distance between the front and rear jaws is achieved, enabling its lower body to be connected to attachments with different shaft distances. At the same time, the lower body adopts a triple-safety setting to enhance the safety of carrying attachments.

[0027] (3) By using the left driving cylinder and the right driving cylinder in cooperation with the connecting rod, the linkage of the left clamping arm and the right clamping arm is achieved, enabling them to open and close synchronously and evenly stressed. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the structure of a conventional series of bucket

[0029] Figure 2 is a schematic diagram of the structure of an S-series bucket

[0030] Figure 3 is a schematic diagram of the overall structure of the present utility model

[0031] Figure 4 is a schematic diagram of the positional relationship among the upper body, the intermediate body, the lower body, and the clip body

[0032] Figure 5 is a schematic diagram of the structure of the upper body

[0033] Figure 6 is Figure 5 a schematic diagram from another angle

[0034] Figure 7 is a schematic diagram of the structure of the intermediate body

[0035] Figure 8 is Figure 7 a schematic diagram from another angle

[0036] Figure 9 is a schematic diagram of the structure of the clip body

[0037] Figure 10 is a schematic diagram of the structure of the U-shaped frame

[0038] Figure 11 is Figure 10 a schematic diagram from another angle

[0039] Figure 12 is Figure 9 a schematic diagram with the U-shaped frame hidden

[0040] Figure 13 is Figure 12 a schematic diagram from another angle

[0041] Figure 14 is a schematic diagram of the structure of the lower body

[0042] Figure 15 isFigure 14 Schematic diagram from another angle;

[0043] Figure 16 is Figure 14 Schematic diagram with the housing hidden;

[0044] Figure 17 Schematic diagram of the structure of the housing;

[0045] Figure 18 is Figure 5 Enlarged schematic diagram of part A of

[0046] Reference numerals: 1, upper body; 2, intermediate body; 3, lower body; 4, clip body; 5, frame body; 6, front axle; 7, rear axle; 8, rotating seat; 9, first swing drive cylinder; 10, second swing drive cylinder; 11, first hinge seat; 12, connecting plate; 13, through hole; 14, base; 15, hinge ear; 16, oil distribution valve; 17, second hinge seat; 18, main shaft; 19, drive motor; 20, connecting ring; 21, gear ring; 22, gear; 23, drive gear; 24, protective housing; 25, housing; 26, connecting disk; 27, movable hook; 28, front tiger mouth; 29, rear tiger mouth; 30, guide block; 31, guiding part; 32, flat push drive cylinder; 33, elastic member; 34, guide groove; 35, bayonet; 36, pin hole; 37, U-shaped frame; 38, U-shaped connecting plate; 39, reinforcing plate; 40, left drive cylinder; 41, right drive cylinder; 42, left clamping arm; 43, right clamping arm; 44, connecting rod; 45, rotating shaft; 46, connecting pin; 47, connection port; 48, anti-disengagement part; 49, L-shaped limiting member; 50, anti-disengagement bolt; 51, oil injection hole; 52, avoidance opening; 53, conventional bucket; 54, S-series bucket. Detailed implementation manners

[0047] The following will clearly and completely describe the present utility model in conjunction with the embodiments.

[0048] It should be noted that all directional indications (such as up, down, left, right, front, rear...) in the embodiments of the present utility model are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the drawings). If the specific posture changes, the directional indications will also change accordingly.

[0049] In the description of the embodiments, unless otherwise clearly defined and limited, terms such as "arrangement", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection; it can be directly connected, or connected through an intermediate medium, and can also be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0050] See the appendix Figure 1 It is a bucket of the conventional series. The connecting shaft of this type of bucket is detachably connected to the bucket.

[0051] See the appendix Figure 2 It is a bucket of the S series. The connecting shaft of this type of bucket is welded to the bucket. When the hydraulic wrist is connected to this type of bucket, a special bucket must be used, or a quick-change device is used for transitional connection.

[0052] See the appendix Figure 3 - 18 , shown is a hydraulic wrist, including an upper body 1, an intermediate body 2, a lower body 3 and a clamp body 4. Specifically, the upper body 1 includes a frame body 5. At the front and rear ends inside the frame body 5, a front shaft 6 and a rear shaft 7 are respectively arranged in parallel. The connection between the entire hydraulic wrist and the boom of the excavator is realized through the front shaft 6 and the rear shaft 7. On one side of the frame body 5 close to the intermediate body 2, there are two first hinge seats 11. Each first hinge seat 11 is composed of two parallel plates as carriers, and through holes are opened through the two plates. A main shaft 18 is provided in the through hole. The connection with the intermediate body 2 is realized through the first hinge seat 11. Rotating seats 8 are respectively arranged on the two side walls of the frame body 5. The frame body 5 is respectively provided with a first swing drive cylinder 9 and a second swing drive cylinder 10 through the rotating seats 8. Among them, both the first swing drive cylinder 9 and the second swing drive cylinder 10 can swing 45 degrees forward and backward along the rotating seats 8. The angle adjustment of the entire hydraulic wrist in the forward and reverse directions is realized through the first swing drive cylinder 9 and the second swing drive cylinder 10;

[0053] The intermediate body 2 includes a base 14. A second hinge seat 17 is provided at the position of the base 14 corresponding to the first hinge seat 11. An oil injection hole 51 is provided at the top of the second hinge seat 17. When the upper body 1 and the intermediate body 2 are connected, the second hinge seat 17 is inserted into the first hinge seat 11, and the main shaft 18 is inserted into the hinge hole at the joint of the two to realize the connection. At the same time, hinge ears 15 are provided at the positions of the base 14 corresponding to the output ends of the first swing drive cylinder 9 and the second swing drive cylinder 10. The base 14 is hinged to the output ends of the first swing drive cylinder 9 and the second swing drive cylinder 10 through the hinge ears 15. During use, the first swing drive cylinder 9 and the second swing drive cylinder 10 drive the intermediate body 2, the lower body 3 and the clamp body 4 to realize angular swing;

[0054] Furthermore, an oil distribution valve 16 is provided between the two second hinge seats 17 where the base 14 is located. The hydraulic oil from the boom is distributed between the clamp body 4 and the lower body 3 through the oil distribution valve 16. At one end of the base 14, two driving motors 19 are vertically arranged. By vertically arranging the driving motors 19, the original sidewall arrangement is replaced, reducing the overall width of the hydraulic wrist. This enables the hydraulic wrist to enter narrow spaces for operation and avoids collisions between the hydraulic wrist and external objects during rotation, reducing the probability of damage to the driving motors 19. The two driving motors 19 operate simultaneously, and at the bottom of the base 14 where the driving motors 19 are located, there are driving gears 23. On one side of the driving gears 23 on the base 14, a connecting ring 20 is bolted. A toothed ring 21 is rotatably sleeved on the connecting ring 20, and an external toothed ring 22 is provided on the toothed ring 21. The toothed ring 22 meshes with the driving gears 23. It can be seen that through the cooperation of the toothed ring 22 and the driving gears 23, the original worm and worm gear are replaced, reducing the overall height and volume of the entire hydraulic wrist. At the same time, through the synchronous operation of the double driving motors 19, the torque for rotating the lower body 3 is increased, making the acting force more concentrated and improving the bearing capacity.

[0055] The lower body 3 includes a housing 25. A connecting disk 26 is provided at a position of the housing 25 close to the intermediate body 2. During use, the lower body 3 and the intermediate body 2 are bolted through the connecting disk 26 and the toothed ring 21. At both ends of the housing 25, a bayonet 35 and a pin hole 36 are respectively opened. In addition, a rear jaw 29 is opened at one end of the housing 25 close to the pin hole 36.

[0056] Furthermore, a movable hook 27 is movably arranged in the housing 25. The movable hook 27 includes a guiding block 30 and a front jaw 28 opened in a direction opposite to that of the rear jaw 29. On both sides of the guiding block 30, guiding parts 31 are respectively provided. At positions of the housing 25 corresponding to the guiding parts 31, guiding grooves 34 are opened. The guiding parts 31 cooperate with the guiding grooves 34. At the same time, a flat push driving cylinder 32 is axially connected in the housing 25. The output end of the flat push driving cylinder 32 is hinged to the hinge part on the guiding block 30. During use, the entire movable hook 27 is driven by the flat push driving cylinder 32 to slide back and forth along the guiding grooves 34, thereby changing the distance between the front jaw 28 and the rear jaw 29. It can be applicable to the connection of conventional and S-series buckets, thereby improving the versatility of the hydraulic wrist. There is no need to use a quick-change device anymore, reducing the height of the hydraulic wrist and making the structure of the hydraulic wrist more compact.

[0057] Furthermore, in order to improve the safety of the lower body 3 and prevent the attachment from falling off, an elastic member 33 is sleeved on the push drive cylinder 32. The elastic member 33 is specifically a compression spring. An always forward thrust is applied to the movable hook 27 through the elastic member 33, so that the two shafts of the attachment can always be placed within the front jaw 28 and the rear jaw 29. At the same time, in order to overcome the resistance brought by gravity when the elastic member 33 pushes the movable hook 27, the elastic force of the elastic member 33 is greater than the gravity of the entire movable hook 27, which further improves the sliding speed of the movable hook 27;

[0058] Furthermore, in order to improve the applicability of the lower body 3, the length of the chute is greater than the maximum distance between the front jaw 28 and the rear jaw 29, so as to ensure that the distance between the front jaw 28 and the rear jaw 29 can adapt to various attachments;

[0059] The clip body 4 includes a U-shaped frame 37. The U-shaped frame 37 includes a U-shaped connecting plate 38, and a reinforcing plate 39 is welded on each side of the U-shaped connecting plate 38. At this time, a C-shaped structure is formed by the U-shaped connecting plate 38 and the two reinforcing plates 39. The U-shaped frame 37 is hinged with a left drive cylinder 40 and a right drive cylinder 41 through the reinforcing plate 39 at the open end. The other end of the U-shaped frame 37 is respectively rotatably connected with a left clamping arm 42 and a right clamping arm 43. One end of the left clamping arm 42 is hinged to the output end of the left drive cylinder 40, and one end of the right clamping arm 43 is hinged to the output end of the right drive cylinder 41. In this way, when in use, the left clamping arm 42 and the right clamping arm 43 perform opposite circular arc movements through their respective corresponding left drive cylinder 40 and right drive cylinder 41. At the same time, in order to achieve synchronous movement and more uniform force of the left clamping arm 42 and the right clamping arm 43, a connecting rod 44 is hinged between the left clamping arm 42 and the right clamping arm 43. The connecting rod 44 is integrally Z-shaped, and the linkage of the left clamping arm 42 and the right clamping arm 43 during movement is realized through the connecting rod 44;

[0060] Furthermore, the U-shaped frame 37 is respectively provided with a rotating shaft 45 and a connecting pin 46 at positions corresponding to the bayonet 35 and the pin hole 36 of the lower body 3. During use, the rotating shaft 45 is placed within the bayonet 35, and at the same time, the connecting pin 46 is inserted into the pin hole 36 to realize the connection of the clip body 4 on the lower body 3;

[0061] Furthermore, connection ports 47 are opened at positions of the U-shaped connecting plate 38 close to the left drive cylinder 40 and the right drive cylinder 41, and the pipeline connection between the left drive cylinder 40, the right drive cylinder 41 and the oil distribution valve 16 is realized through the connection ports 47;

[0062] Furthermore, in order to prevent the connecting rod 44 from interfering with the U-shaped frame 37 during movement, an avoidance opening 52 is opened on the U-shaped frame 37 at the movement path of the connecting rod 44. Through the avoidance opening 52, not only the interference is avoided, but also the structural strength of the U-shaped frame 37 is ensured.

[0063] Meanwhile, to improve the structural strength of the first hinge seat 11, a connecting plate 12 is welded between two plates where the first hinge seat 11 is located. At the same time, to facilitate oil injection into the first hinge seat 11, a through hole 13 is provided at the position of the connecting plate 12 corresponding to the oil injection hole 51. The through hole 13 is used to facilitate the docking of an oil gun with the oil injection hole 51.

[0064] In addition, to prevent the collision of objects with the drive motor 19 during operation, a protective shell 24 is provided around the drive motor 19 on the base 14.

[0065] It should be noted that, as shown in the attached Figure 18 To prevent the front axle 6 and the rear axle 7 of the upper body 1 from rotating and falling off, anti - detachment parts 48 are provided at one end of the front axle 6 and the rear axle 7. And at the position of the frame body 5 corresponding to the anti - detachment parts 48, two L - shaped limit pieces 49 are provided. The anti - detachment parts 48 are restricted between the two L - shaped limit pieces 49, and anti - detachment bolts 50 are also provided on the anti - detachment parts 48.

[0066] It should be noted that the connecting ring 20 and the gear ring 22 form a combined structure, and its structure is the same as that of the existing product support bearing.

[0067] During use, the front axle 6 and the rear axle 7 of the upper body 1 are connected to the boom of the excavator. The double drive motors 19 engage with the gear ring 21 to drive the lower body 3 and the clamp body 4 to rotate forward and backward. When connected to the bucket, the push - type drive cylinder 32 drives the movable hook 27 to slide along the guide groove 34 according to the shaft spacing of the attachment to complete the adaptation. When it is necessary to clamp the workpiece, the left drive cylinder 40 and the right drive cylinder 41 are started to drive the left clamp arm 42 and the right clamp arm 43 to perform clamping. Most importantly, the entire hydraulic wrist replaces the original worm and worm gear through the cooperation of the drive gear 23 and the gear ring 21, thereby reducing the overall height, making the structure more compact, the acting force more concentrated. At the same time, the movable lower body 3 replaces the original quick - change device, further realizing a real reduction in height, reducing the transportation cost, and being able to quickly connect to conventional and S - series buckets, improving the versatility of the entire hydraulic wrist.

[0068] The above - mentioned is only the preferred specific embodiment of the present invention, and does not limit the protection scope of the present invention accordingly. Therefore, all equivalent changes made according to the structure, shape, and principle of the present invention should be covered within the protection scope of the present invention.

Claims

1. A hydraulic wrist, characterized in that: It includes an upper body (1), an intermediate body (2), a lower body (3) and a clip body (4). The upper body (1) is rotatably connected to the intermediate body (2). The intermediate body (2) can drive the lower body (3) to perform forward and reverse circular motions. The clip body (4) is detachably sleeved on the lower body (3). The upper body (1) includes a frame body (5). On both sides of one end of the frame body (5), a first swing drive cylinder (9) and a second swing drive cylinder (10) are respectively arranged. At both the front and rear ends of the upper body (1), first hinge seats (11) are provided. Inside the upper body (1), a front shaft (6) and a rear shaft (7) are arranged in parallel. The intermediate body (2) includes a base (14). One end of the base (14) is respectively hinged to the output ends of the corresponding first swing drive cylinder (9) and second swing drive cylinder (10). At the other end of the base (14), two synchronously operating drive motors (19) are vertically arranged. On one side of the base (14) away from the drive motors (19), a connection ring (20) is provided. A toothed ring (21) is rotatably arranged on the connection ring (20). A toothed circle (22) is provided on the outer circle of the toothed ring (21). At one end of the toothed circle (22) where the output end of the drive motor (19) is located, a drive gear (23) is provided. The drive gear (23) meshes with the toothed circle (22). The lower body (3) includes a housing (25). On one side of the housing (25) close to the base (14), a connection disk (26) is provided. The lower body (3) realizes detachable connection with the toothed ring (21) through the connection disk (26). Inside the housing (25), a movable hook (27) is provided. The movable hook (27) includes a front tiger mouth (28). At one end of the housing (25) in the direction away from the front tiger mouth (28), a rear tiger mouth (29) is opened. A drive mechanism is provided on the movable hook (27). Under the action of the drive mechanism, the movable hook (27) makes an approaching motion relative to the rear tiger mouth (29).

2. The hydraulic wrist according to claim 1, characterized in that: The movable hook (27) further includes a guide block (30). An articulated part is provided on the guide block (30). At the position of the housing (25) corresponding to the guide block (30) and along the movement path of the movable hook (27), a guide groove (34) is opened. The length of the guide groove (34) is not less than the maximum distance between the front tiger mouth (28) and the rear tiger mouth (29).

3. The hydraulic wrist according to claim 1, characterized in that: The drive mechanism includes a flat push drive cylinder (32). One end of the flat push drive cylinder (32) is movably connected inside the housing (25). The output end of the flat push drive cylinder (32) is hinged to the movable hook (27). An elastic member (33) is also sleeved on the cylinder body of the flat push drive cylinder (32). The elastic member (33) acts as a forward elastic force on the movable hook (27). The elastic force of the elastic member (33) is greater than the gravity of the movable hook (27).

4. A hydraulic wrist according to claim 1, characterized in that: At the positions of the first swing drive cylinder (9) and the second swing drive cylinder (10) on the upper body (1), a rotating seat (8) is provided. The rotating seat (8) is respectively rotatably connected to the cylinder bodies of the first swing drive cylinder (9) and the second swing drive cylinder (10).

5. A hydraulic wrist according to claim 1, characterized in that: The first hinge seat (11) includes two plate members arranged in parallel, and a connecting plate (12) is provided between the two plate members. A through hole (13) is formed at the central position of the connecting plate (12).

6. A hydraulic wrist according to claim 1, characterized in that: A second hinge seat (17) is provided at the position of the base (14) corresponding to the first hinge seat (11). A hinge hole is formed through the joint of the first hinge seat (11) and the second hinge seat (17), and a main shaft (18) is provided in the hinge hole. An oil injection hole (51) is provided at the top of the second hinge seat (17).

7. A hydraulic wrist according to claim 1, wherein: The clip body (4) includes a U-shaped frame (37). The U-shaped frame (37) is provided with a U-shaped connecting plate (38). Reinforcing plates (39) are arranged in parallel on both sides of the U-shaped connecting plate (38). One end of the U-shaped frame (37) is hinged with a left driving cylinder (40) and a right driving cylinder (41) through the reinforcing plates (39). The other end of the U-shaped frame (37) is hinged with a left clamping arm (42) and a right clamping arm (43). The output end of the left driving cylinder (40) is hinged with the left clamping arm (42). The output end of the right driving cylinder (41) is hinged with the right clamping arm (43). A connecting rod (44) is hinged between the sides of the left clamping arm (42) and the right clamping arm (43) that are close to each other.

8. A hydraulic wrist according to claim 1, characterized in that: Buckle openings (35) and pin holes (36) are respectively provided at both ends of the housing (25). A rotating shaft (45) and a connecting pin (46) are respectively provided at the positions of the clip body (4) corresponding to the buckle openings (35) and the pin holes (36).

9. A hydraulic wrist according to claim 7, characterized in that: Connecting openings (47) are formed at the positions of the U-shaped connecting plate (38) corresponding to the left driving cylinder (40) and the right driving cylinder (41).

10. A hydraulic wrist according to claim 1, characterized in that: Anti-disengagement portions (48) are provided at one ends of the front axle (6) and the rear axle (7). L-shaped limit members (49) are provided on both sides of the upper body (1) at the positions of the anti-disengagement portions (48). An anti-disengagement bolt (50) is further provided between the anti-disengagement portion (48) and the upper body (1).

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