Pneumatic-electro-hydraulic floating aviation plug

Abstract

The utility model discloses a pneumoelectric hydraulic floating aviation plug, which comprises a main side aviation plug and a tool side aviation plug, a spring probe is fixed on the butt joint surface of the main side aviation plug and is matched with the butt joint surface of the tool side aviation plug; a first gas path self-sealing port is formed in the butt joint face of the main side aviation plug, a self-sealing structure is arranged in the first gas path self-sealing port and comprises a first fixing rod, a first stress rod and a first spring, the first fixing rod is installed at the bottom of the first gas path self-sealing port, the tail end of the first fixing rod extends into a limiting hole, and the first spring is arranged in the first stress rod. The first stress rod is in clearance fit with the first gas path self-sealing port and makes contact with the bottom of the first gas path self-sealing port through the first spring. The butt joint face of the tool side air plug is provided with a second air path self-sealing port, the second air path self-sealing port is provided with a second fixing rod which is rotationally connected, and the device solves the problems that at present, flexibility is low and sealing performance is poor.

Description

TECHNICAL FIELD

[0001] The utility model belongs to industrial robot technical direction, concretely relates to a gas electricity liquid floating navigation plug. BACKGROUND

[0002] As a kind of key connecting device, gas electricity liquid floating navigation plug is widely used in signal and gas transmission between mechanical arm and clamp.The docking precision requirement of traditional navigation plug connecting device is high, cannot effectively compensate manufacturing error or the slight deviation when docking, and the problems such as insufficient sealing performance, these problems limit the flexibility and reliability of automation equipment.

[0003] Specifically, traditional navigation plug connecting device usually adopts rigid connection mode, and the docking precision requirement of mechanical arm and clamp is extremely high.However, in actual application, due to manufacturing error, installation error and slight deviation in the movement process of mechanical arm, docking precision of navigation plug connecting device is often difficult to guarantee, to cause signal transmission instability or gas leakage and other problems.

[0004] In addition, traditional navigation plug connecting device also has certain deficiency in sealing performance.During docking process, due to aging of sealing material, wear or unreasonable design of sealing structure, gas leakage is often caused, to affect the normal work of pneumatic component.

[0005] In order to solve the above problems, the market urgently needs a kind of gas electricity liquid floating navigation plug, which can compensate manufacturing error or slight deviation when docking, guarantee docking precision and sealing performance.This navigation plug connecting device needs to have floating function, can automatically adjust docking position within a certain range, to ensure stable connection between mechanical arm and clamp.At the same time, navigation plug connecting device also needs to have good sealing performance, to prevent gas leakage, guarantee the normal work of pneumatic component.

[0006] Therefore, the present application provides a kind of gas electricity liquid floating navigation plug, realizes the automatic compensation of docking precision and the effective sealing of gas transmission, improves the flexibility and reliability of automation equipment. UTILITY MODEL CONTENTS

[0007] The utility model is directed to the prior art device a kind of gas electricity liquid floating navigation plug, to solve the problems presented in the above background.

[0008] To solve the above technical problems, the utility model provides the following technical scheme: a kind of gas electricity liquid floating navigation plug, including main side navigation plug and tool side navigation plug, the docking face of the main side navigation plug is fixed with spring probe, and is matched with the docking face of the tool side navigation plug;

[0009] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0010] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0011] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0012] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0013] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0014] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0015] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0016] The docking surface of the tool side navigation plug is provided with a gas path self-sealing port two, the gas path self-sealing port two is provided with a fixed rod two connected in rotation, the fixed rod two is hollow inside and gradually increases in diameter when penetrating into the hole of the counter sunk hole, the fixed rod two is provided with a stress rod two inside, the stress rod two is fixed with a limiting rod on the outer diameter, and the stress rod two and the bottom of the gas path self-sealing port two are connected through a spring two.

[0017] The utility model further illustrates that the air pipe joint one is fixed at the air source air pipe of the main side navigation plug, and the air pipe joint two is fixed at the air path air pipe of the tool side navigation plug.

[0018] The utility model further illustrates that the V-shaped sheet one and the mounting hole are in interference fit, the V-shaped sheet two is sleeved on the outer diameter of the bolt, the V-shaped sheet two is conical, the V-shaped sheet one is attached to the V-shaped sheet two, and the opening of the V-shaped sheet one is larger than the diameter of the bolt.

[0019] Compared with the prior art, the utility model has the beneficial effects that: the utility model, through the design of the floating base, the main side navigation plug can automatically adjust the butt joint position within a certain range, effectively compensating for manufacturing errors or slight deviation during butt joint. This floating function greatly improves the accuracy and flexibility of the connection between the mechanical arm and the clamp, making the entire automation system more stable and reliable.

[0020] Through the design of the self-sealing structure, the air path port can be automatically sealed when not butt joint, preventing gas leakage. During butt joint, the sealing structure can gradually open under the action of external pressure, ensuring smooth transmission of the gas. This design not only improves the sealing performance, but also simplifies the butt joint operation and reduces the maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings are used to provide a further understanding of the utility model and constitute a part of the specification, and are used to explain the utility model together with embodiments of the utility model, and do not constitute a limitation on the utility model. In the drawings:

[0022] Figure 1 It is the overall structure schematic diagram of the utility model embodiment;

[0023] Figure 2 It is the back structure schematic diagram of the utility model embodiment;

[0024] Figure 3 It is the internal structure schematic diagram of the main side navigation plug of the utility model embodiment;

[0025] Figure 4 It is the internal structure schematic diagram of the tool side navigation plug of the utility model embodiment;

[0026] Figure 5 It is the internal structure schematic diagram of the floating base of the utility model embodiment;

[0027] In the drawings: 1, main side navigation plug;101, spring probe;102, air path self-sealing port one;1021, limit hole;103, multi-core wire one;104, connecting pin;105, air pipe joint one;

[0028] 2. Tool side connector; 201. Spring probe access end; 202. Air circuit self-sealing port two; 2021. Countersunk hole; 203. Multi-core wire two; 204. Connection hole; 205. Air pipe connector two; 206. Fixing rod two; 2061. Limiting block two; 207. Force rod two; 208. Limiting rod; 209. Spring two; 3. Floating base; 301. Pin; 302. Spring three; 303. Limiting piece; 304. V-shaped piece one; 305. V-shaped piece two; 4. Self-sealing structure; 401. Fixing rod one; 4011. Limiting block one; 402. Force rod one; 403. Spring one. Detailed Implementation

[0029] The following detailed, non-limiting description of the present invention, in conjunction with preferred embodiments and accompanying drawings, is provided. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] Please see Figures 1-5 The present invention provides a technical solution: a pneumatic-electro-hydraulic floating pod, comprising a main-side pod 1 and a tool-side pod 2, wherein the main-side pod 1 is connected to the main control end that does not need to be replaced, and the tool-side pod 2 is connected to the clamp end.

[0031] like Figure 1 and Figure 2 As shown, in some embodiments, a spring probe 101 is fixed on the mating surface of the main side insertion 1, and the spring probe 101 mates with the mating surface of the tool side insertion 2.

[0032] The main side connector 1 is provided with a gas path self-sealing port 102 on its docking surface, and a self-sealing structure 4 is provided inside the gas path self-sealing port 102.

[0033] like Figure 3 As shown, in some embodiments, the self-sealing structure 4 includes a fixing rod 401, a force-bearing rod 402, and a spring 403. A limiting hole 1021 is provided at the bottom center of the air passage self-sealing port 102. The fixing rod 401 is installed at the bottom of the air passage self-sealing port 102, and its end extends into the limiting hole 1021.

[0034] A limiting block 4011 is provided above the limiting hole 1021. The limiting block 4011 is fixed on the outer diameter of the fixing rod 401. The diameter of the limiting block 4011 is larger than that of the limiting hole 1021, and it is used to restrict the movement of the fixing rod 401.

[0035] The diameter of the end of the fixing rod 401 away from the limiting hole 1021 gradually increases to form a "cone" shape, and it is engaged with the force rod 402. The force rod 402 is clearance-fitted with the air passage self-sealing port 102. The force rod 402 contacts the bottom of the air passage self-sealing port 102 through the spring 403. One end of the spring 403 is sleeved on the outer diameter of the force rod 402, and the other end contacts the bottom of the air passage self-sealing port 102.

[0036] When the main side connector 1 and the tool side connector 2 are not connected, the sealing material seals the gas port under its own elasticity to prevent gas leakage.

[0037] During the docking process, as the main side connector 1 and the tool side connector 2 approach each other, the sealing structure gradually opens under the action of external pressure, allowing the gas to be transmitted smoothly.

[0038] like Figure 1 and Figure 2 As shown, in some embodiments, a multi-core wire 103 is provided on the adjacent surface of the main side connector 1. One end of the multi-core wire 103 is connected to the main side connector 1, and the other end is connected to the main control terminal to realize signal transmission.

[0039] A connecting pin 104 is fixed on the mating surface of the main side insert 1. The connecting pin 104 is made of high-strength metal material and mates with the mating surface of the tool side insert 2. The shape and size of the connecting pin 104 match the connecting hole 204.

[0040] During docking, the connecting pin 104 is accurately inserted into the connecting hole 204 of the tool-side connector, realizing the mechanical positioning and connection between the main-side connector 1 and the tool-side connector 2, and ensuring the accuracy of the electrical connection and pneumatic connection.

[0041] The main side air plug 1 is fixed with an air pipe connector 105 at the air source pipe. The air pipe connector 105 is used to ensure smooth gas flow and has a certain sealing performance to prevent gas leakage.

[0042] A spring probe access end 201 is fixed on the mating surface of the tool-side insertion socket 2. The shape and size of the spring probe access end 201 are adapted to the spring probe 101 of the main-side insertion socket. The interior of the spring probe access end 201 has a smooth surface treatment to reduce the friction when the spring probe 101 is inserted. This ensures accurate contact with the spring probe 101 of the main-side insertion socket 1 when docking with it.

[0043] like Figure 4As shown, in some embodiments, a second air passage self-sealing port 202 is provided on the mating surface of the tool-side air-insertion 2. A countersunk hole 2021 is provided at the second air passage self-sealing port 202. A second fixing rod 206 is rotatably connected to the opening of the countersunk hole 2021. One end of the second fixing rod 206 extends into the countersunk hole 2021 and is sealed to the countersunk hole 2021 by a bearing. The other end is fixed with a second limiting block 2061. The second limiting block 2061 fits against the mating surface of the tool-side air-insertion 2. The second fixing rod 206 is hollow inside and extends into the countersunk hole 2021. The aperture inside 021 gradually increases. A force-bearing rod 207 is provided inside the second fixed rod 206. A limit rod 208 is fixed on the outer diameter of the second force-bearing rod 207. The limit rod 208 is supported on the inner wall of the second fixed rod 206 to limit the movement of the second force-bearing rod 207. The second force-bearing rod 207 and the bottom of the second air passage self-sealing port 202 are connected by a second spring 209. The second spring sleeve 207 is sleeved on the outer diameter of the second force-bearing rod 207. One end of the second spring 209 is fixed on the limit rod 208, and the other end is in contact with the bottom of the second air passage self-sealing port 202.

[0044] When not connected, the second self-sealing port 202 of the gas passage automatically seals to prevent gas leakage; when connected, it opens under external pressure, allowing gas to be transmitted from the main side connector 1 to the pneumatic components of the tool side connector 2.

[0045] Multi-core wire 203 is provided on the adjacent surfaces of the docking surface of the tool-side connector 2. The position of multi-core wire 203 corresponds to that of multi-core wire 103, and the structure of multi-core wire 203 is the same as that of multi-core wire 103. One end of multi-core wire 203 is connected to the tool-side connector 2, and the other end is connected to the clamp end to realize electrical communication between the main-side connector 1 and the tool-side connector 2.

[0046] A connecting hole 204 is provided on the mating surface of the tool-side connector 2. The size and shape of the connecting hole 204 are adapted to the connecting pin 104 of the main-side connector. The connecting hole 204 is used to ensure that the main-side connector 1 and the tool-side connector 2 can be accurately mated. The inner wall of the connecting hole 204 is smooth to reduce the resistance when the connecting pin 201 is inserted.

[0047] A second air pipe connector 205 is fixed to the air pipe of the tool-side insert 2. The size of the second air pipe connector 205 matches the air pipe interface of the pneumatic component of the clamp. The second air pipe connector 205 is used to ensure effective gas transmission and has good sealing performance to prevent gas leakage.

[0048] like Figure 5As shown, in some embodiments, two mounting holes 106 are provided on the side of the main side connector 1 away from the docking surface. The mounting holes 106 are countersunk holes. A floating base 3 is mounted on the main side connector 1 through the mounting holes 106. The floating base 3 includes a pin 301, a spring 302, a limiting piece 303, a V-shaped piece 1 304, and a V-shaped piece 2 305, wherein:

[0049] The pin 301 passes through the floating base 3 and is inserted into the mounting hole 106. A spring 302 is sleeved on the outer diameter of the pin 301. One end of the spring 302 is fixed to the bottom of the mounting hole 106, and the other end is connected to a limiting piece 303. The limiting piece 303 is fixedly connected to the inner wall of the mounting hole 106. A V-shaped piece 304 is engaged at the end of the limiting piece 303 away from the spring 302. The V-shaped piece 304 is interference-fitted with the mounting hole 106. A V-shaped piece 305 is loosely fitted below the V-shaped piece 304. The V-shaped piece 305 is sleeved on the outer diameter of the pin 301. The V-shaped piece 305 is conical. The V-shaped piece 304 and the V-shaped piece 305 fit together. The opening of the V-shaped piece 304 is larger than the diameter of the pin 301.

[0050] The fitting design of the V-shaped piece 304 and the V-shaped piece 305 allows the pin 301 to float within a certain radial range to compensate for manufacturing errors or slight offsets during docking, ensuring precise docking of the main side connector 1 and the tool side connector 2.

[0051] Working principle:

[0052] When the robotic arm needs to change to a different gripper, the robotic arm connects the main-side connector 1 to the tool-side connector 2, which is connected to the required gripper. During this process:

[0053] The connecting pin 401 is inserted into the connecting hole 204, so that the spring probe access end 201 and the spring probe 101 of the tool-side insertion 2 are on the same vertical plane. When the main-side insertion 1 and the tool-side insertion 2 are closed, the air passage self-sealing port 102 and the air passage sealing port 203 fit together to form a sealing channel. The fixing rod 401 applies force to the force-receiving rod 207, and the force-receiving rod 207 compresses the spring 209 to contract inward. A certain gap is generated between the force-receiving rod 207 and the fixing rod 206, and the air passage self-sealing port 202 opens.

[0054] The fixing rod 206 applies force to the force-receiving rod 402, which compresses the spring 403, causing it to contract inward. A certain gap is created between the force-receiving rod 402 and the fixing rod 401, opening the air passage self-sealing port 102.

[0055] When the main side connector 1 separates from the tool side connector 2, the first force rod 402 and the second force rod 207 are restored under the action of the first spring 403 and the second spring 209, cutting off the fluid flow.

[0056] When the positions of the main-side connector 1 and the tool-side connector 2 deviate, the mating closure of the main-side connector 1 and the tool-side connector 2 will cause the connecting pin 104 to be stressed. The V-shaped plate 305 will then shift under the force, and the spring 302 will be compressed. Since the floating base 3 is fixed to the robotic arm and moves relative to it, the main-side connector 1 will float due to its connection with the V-shaped plate 305, with a floating range of 2.5mm.

[0057] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0058] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A pneumatic-electro-hydraulic floating landing craft, comprising a main-side landing craft and a tool-side landing craft, characterized in that: A spring probe is fixed on the mating surface of the main side insertion tool, which mates with the mating surface of the tool side insertion tool; The main side of the aircraft is provided with a self-sealing port for the air passage. The self-sealing port for the air passage is provided with a self-sealing structure inside. The self-sealing structure includes a fixing rod, a force-bearing rod and a spring. The fixing rod is installed at the bottom of the self-sealing port for the air passage, and its end extends into the limiting hole. The force-bearing rod is clearance-fitted with the self-sealing port for the air passage and contacts the bottom of the self-sealing port for the air passage through the spring. The tool side connector has a second air passage self-sealing port on its mating surface. The second air passage self-sealing port has a countersunk hole. A second fixing rod is rotatably connected to the countersunk hole. The second fixing rod is hollow inside and its diameter gradually increases as it extends into the countersunk hole. A second force-bearing rod is installed inside the second fixing rod. A limit rod is fixed on the outer diameter of the second force-bearing rod. The second force-bearing rod and the bottom of the second air passage self-sealing port are connected by a second spring. A connecting pin is fixed on the main side docking surface, and a connecting hole adapted to the connecting pin is opened on the tool side docking surface; The main side of the aircraft insert has a mounting hole on the side away from the docking surface. A floating base is installed through the mounting hole. The floating base includes a pin, a third spring, a limiting piece, a first V-shaped piece, and a second V-shaped piece. The pin passes through the floating base and is inserted into the mounting hole. The third spring is sleeved on the outer diameter of the pin. One end of the third spring is fixed to the bottom of the mounting hole, and the other end is connected to the limiting piece. The first V-shaped piece is engaged with the end of the limiting piece away from the third spring. The second V-shaped piece is fitted with a gap below the first V-shaped piece.

2. The pneumatic-electro-hydraulic floating aeropod according to claim 1, characterized in that: The main-side connector is connected to the main control terminal, and the tool-side connector is connected to the fixture terminal.

3. The pneumatic-electro-hydraulic floating aero-landing device according to claim 2, characterized in that: The diameter of the end of the fixed rod away from the limiting hole gradually increases to form a "cone" shape, and it is engaged with the force-bearing rod. A limiting block is provided above the limiting hole, and the limiting block is fixed on the outer diameter of the fixed rod. The diameter of the limiting block is larger than that of the limiting hole.

4. The pneumatic-electro-hydraulic floating aeropod according to claim 3, characterized in that: A spring probe access end is fixed on the docking surface of the tool-side insertion device, and the shape and size of the spring probe access end are adapted to the spring probe.

5. The pneumatic-electro-hydraulic floating aeropod according to claim 4, characterized in that: Multi-core wire one is provided on the adjacent surface of the docking surface of the main side aircraft plug, and multi-core wire two is provided on the adjacent surface of the docking surface of the tool side aircraft plug. The multi-core wire one and the multi-core wire two are positioned correspondingly and have the same structure.

6. The pneumatic-electro-hydraulic floating aeropod according to claim 5, characterized in that: The main side air insertion device has an air pipe connector one fixed at the air source air pipe, and the tool side air insertion device has an air pipe connector two fixed at the air path air pipe.

7. The pneumatic-electro-hydraulic floating aero-landing module according to claim 6, characterized in that: The first V-shaped piece is interference-fitted with the mounting hole, the second V-shaped piece is sleeved on the outer diameter of the pin, the second V-shaped piece is conical, the first V-shaped piece and the second V-shaped piece fit together, and the opening of the first V-shaped piece is larger than the diameter of the pin.

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