Automatic disassembly and installation system and method for a plunger pump

Abstract

An automatic disassembly and installation system and method for a plunger pump. The automatic disassembly and installation system for the plunger pump includes a plurality of working members, a first robotic arm, a first driving mechanism, and a second driving mechanism. The plurality of working members includes a rotary pulling member, a lever member, and at least one clamping member; the first robotic arm includes a working end and a connecting end opposite to the working end, and the working end of the first robotic arm is configured to be detachably connected to each of the plurality of working members respectively; the first driving mechanism is connected to the connecting end of the first robotic arm and is configured to drive the first robotic arm to move in a three-dimensional space; the second driving mechanism is configured to drive the working members connected to the working end to perform work.

Description

Technical Field

[0001] At least one embodiment of the present disclosure relates to an automatic disassembly and installation system for a plunger pump, and an automatic disassembly and installation method for a plunger pump. Background Art

[0002] Particles such as pressurized materials are likely to accumulate between the components of the hydraulic end of the plunger pump, and daily maintenance and inspection are required. When necessary, the components of the hydraulic end of the plunger pump need to be replaced. When replacing the components of the hydraulic end of the plunger pump, disassembly and assembly of the hydraulic end are required. Traditional methods need to be manually completed through the cooperation of multiple people, and it takes a long time to replace components. Especially when replacing the valve seat spring sleeve, valve seat and plunger, it takes a lot of time and effort. Moreover, during the process of manually replacing the components of the hydraulic end by humans, safety accidents such as being hit by components on the feet and spraining the waist are likely to occur. Summary of the Invention

[0003] At least one embodiment of the present disclosure provides an automatic disassembly and installation system for a plunger pump. The automatic disassembly and installation system for the plunger pump includes a plurality of working components, a first robotic arm, a first driving mechanism, and a second driving mechanism. The plurality of working components include a rotary pulling component, a lever component, and at least one clamping component; the first robotic arm includes a working end and a connection end opposite to the working end, and the working end of the first robotic arm is configured to be detachably connected to each of the plurality of working components respectively; the first driving mechanism is connected to the connection end of the first robotic arm and is configured to drive the first robotic arm to move in a three-dimensional space; the second driving mechanism is configured to drive the working components connected to the working end to work.

[0004] For example, in the automatic disassembly and installation system for a plunger pump provided by an embodiment of the present disclosure, the plunger pump includes a hydraulic end, the hydraulic end includes a first cavity and a plurality of first functional components located in the first cavity, and the automatic disassembly and installation system for the plunger pump further includes a control system. The control system is respectively communicatively connected to the first driving mechanism and the second driving mechanism, and the control system is configured to control the first driving mechanism to drive the first robotic arm to move in the extending direction of the first cavity, and control the first robotic arm to drive the plurality of working components to enter the first cavity and respectively be matched and connected to the plurality of first functional components in the first cavity, so as to disassemble or install the plurality of first functional components in the first cavity.

[0005] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the hydraulic end further includes a second cavity and a plurality of second functional components located in the second cavity. The control system is further configured to control the first driving mechanism to drive the first robotic arm to move in the extending direction of the second cavity, and control the first robotic arm to drive the plurality of working components into the second cavity and respectively match and connect with the plurality of second functional components in the second cavity, so as to disassemble or install the plurality of second functional components in the second cavity.

[0006] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the lever member includes a lever and a rod-shaped branch. The lever includes a lever body and a lever connection part. The lever body includes a first end that can be detachably connected to the working end of the first robotic arm and a second end opposite to its first end. The lever connection part is connected to the second end of the lever body; the rod-shaped branch is connected to the lever body and extends in a direction perpendicular to the extending direction of the lever body, and includes a branch body and a spring compression part. The branch body includes a first end connected to the lever body and a second end opposite to its first end. The spring compression part is connected to the second end of the branch body. The spring compression part has a pressing surface away from the lever body. The second driving mechanism includes a lever driving mechanism configured to drive the lever to perform a lever movement to drive the pressing surface to move.

[0007] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the second end of the lever body has a first end face away from the first robotic arm. The lever connection part is arranged on the first end face and has the same extending direction as the lever body. Moreover, the size of the cross-section of the lever connection part parallel to the first end face is smaller than the size of the first end face so that the connection part between the lever connection part and the lever body has a first stepped structure; the second end of the branch body has a second end face away from the lever body. The second end of the branch body constitutes the spring compression part, and the second end face constitutes the pressing surface of the spring compression part.

[0008] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the spring compression part is arranged on the second end face, and the size of the cross-section of the spring compression part parallel to the second end face is smaller than the size of the second end face so that the connection part between the spring compression part and the branch body has a second stepped structure.

[0009] For example, the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure further includes: a second robotic arm, the second robotic arm including a working end and a connection end opposite to the working end; the at least one clamping member includes a first clamping member, and the first clamping member is detachably connectable to the working end of the second robotic arm; the second driving mechanism includes a clamping driving mechanism, and the clamping driving mechanism is configured to: while the first robotic arm drives the lever member to work, drive the first clamping member to perform a clamping operation.

[0010] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the plurality of working members further includes a pulling member, the pulling member including a pulling main body and a first pulling portion and a second pulling portion connected to the pulling main body; the pulling main body is configured to be detachably connectable to the working end of the first robotic arm, the first pulling portion having a first end connected to the pulling main body and a second end away from the pulling main body, the second pulling portion having a first end connected to the pulling main body and a second end away from the pulling main body, the first ends of the first pulling portion and the second pulling portion being spaced apart from each other; the first end of the first pulling portion having a first hook portion bent in a direction away from the pulling portion, and the first end of the pulling portion having a second hook portion bent in a direction away from the first pulling portion; the second driving mechanism includes a pulling driving mechanism, and the pulling driving mechanism is configured to drive the pulling member to move.

[0011] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the rotary pulling member includes a rotary pulling main body and a columnar rotary pulling connection portion connected to the rotary pulling main body, the rotary pulling main body being configured to be detachably connectable to the working end of the first robotic arm; the second driving mechanism further includes a rotary driving mechanism and a pulling driving mechanism. The rotary driving mechanism is configured to drive the rotary pulling main body and the columnar rotary pulling connection portion to rotate; the pulling driving mechanism is configured to drive the rotary pulling member to move.

[0012] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the plurality of working components further include a push-pull component, and the push-pull component includes: a push-pull main body, a push-pull connection part, and a push-pull part. The push-pull main body is configured to be detachably connected to the working end of the robotic arm; the push-pull connection part has a first end connected to the push-pull main body and a second end away from the push-pull main body; the push-pull part is connected to the push-pull connection part; the direction from the first end of the connection part to the second end of the push-pull connection part is the extension direction of the push-pull connection part, and the push-pull part extends beyond the push-pull connection part in a direction perpendicular to the extension direction of the push-pull connection part; the second driving mechanism includes a push-pull driving mechanism, and the push-pull driving mechanism is configured to drive the push-pull component to move.

[0013] For example, the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure further includes a third robotic arm, and the third robotic arm includes a working end and a connection end opposite to the working end; the position of the connection end of the third robotic arm is different from the position of the connection end of the first robotic arm, and the working end of the third robotic arm is configured to be detachably connected to each of the plurality of working components respectively and drive the working component connected to the working end of the third robotic arm to work.

[0014] For example, the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure further includes: a detection module, and the detection module is configured to obtain the working state of the first functional component or the second functional component and judge whether the first functional component or the second functional component needs to be disassembled according to the working state; the control system includes a loading control module, and the loading control module is configured to: when the first functional component or the second functional component needs to be disassembled, control the working end of the first robotic arm to be detachably connected to the working component that is connected and matched with the first functional component or the second functional component that needs to be disassembled.

[0015] For example, in the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure, the detection module includes an image sensing device and a judgment module; the image sensing device is arranged at the working end of the first robotic arm and is configured to obtain an image of the first functional component or the second functional component and transmit the image to the judgment module; the judgment module judges whether the first functional component or the second functional component needs to be disassembled according to the image.

[0016] For example, the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure further includes an over-torque protection device. The over-torque protection device is communicatively connected to the control system and configured to obtain the torque value generated when the rotary pulling member rotates, and send the torque value to the control system. Wherein, the control system includes a processing module, and the processing module receives the torque value and issues an over-torque alarm signal when the torque value reaches the torque warning value, and controls the over-torque protection device to drive the rotary pulling member to stop rotating.

[0017] For example, the automatic disassembly and installation system of a plunger pump provided by an embodiment of the present disclosure further includes a pulling protection device. The pulling protection device is communicatively connected to the control system and configured to obtain the pulling force value generated by at least one of the pulling member and the rotary pulling member during operation. Wherein, when the pulling force value reaches the pulling force warning value, the pulling protection device issues an over-pulling alarm signal and controls at least one of the pulling member and the rotary pulling member to stop working.

[0018] At least one embodiment of the present disclosure further provides a method for automatically disassembling and installing a plunger pump. The method includes: driving a first robotic arm to move in a three-dimensional space by a first driving mechanism. Wherein, the first robotic arm includes a working end and a connecting end opposite to the working end, the first driving mechanism is connected to the working end of the first robotic arm, and the working end of the first robotic arm is configured to be detachably connected to each of a plurality of working members respectively; and driving the working member connected to the working end to work by a second driving mechanism. Wherein, the plurality of working members includes a rotary pulling member, a lever member, and at least one clamping member.

[0019] For example, in the method for automatically disassembling and installing a plunger pump provided by an embodiment of the present disclosure, the plunger pump includes a hydraulic end, and the hydraulic end includes: functional components and a first cavity; the functional components include a plurality of first functional components; the plurality of first functional components are located in the first cavity. The method further includes: controlling the first driving mechanism by a control system to drive the first robotic arm to move in the extending direction of the first cavity, and controlling the first robotic arm to drive the plurality of working members to enter the first cavity and respectively match and connect with the plurality of first functional components in the first cavity, so as to disassemble or install the plurality of first functional components in the first cavity.

[0020] For example, in the automatic disassembly and installation method of a plunger pump provided by an embodiment of the present disclosure, the functional components further include a plurality of second functional components, the hydraulic end further includes a second cavity, and the plurality of second functional components are located in the second cavity. The method further includes: controlling, by the control system, the first driving mechanism to drive the first robotic arm to move in the extending direction of the second cavity, and controlling the first robotic arm to drive the plurality of working members into the second cavity and respectively match and connect with the plurality of second functional components in the second cavity, so as to disassemble or install the plurality of second functional components in the second cavity.

[0021] For example, in the automatic disassembly and installation method of a plunger pump provided by an embodiment of the present disclosure, the plunger pump includes a plurality of cylinders, and each of the plurality of cylinders includes the first cavity and / or the second cavity. The method further includes: determining a target cylinder that needs to replace the functional components among the plurality of cylinders, and determining a target functional component that needs to be replaced in the target cylinder; selecting a target working member that matches the target functional component from the plurality of working members, detachably connecting the target working member to the working end of the first robotic arm; and controlling, by the control system, the first robotic arm to move to drive the target working member to move to the position of the target functional component, and driving, by the second driving mechanism, the target working member to move to match and connect with the target functional component and disassemble the target functional component.

[0022] For example, the automatic disassembly and installation method of a plunger pump provided by an embodiment of the present disclosure further includes: acquiring an image of the working component, and determining the target cylinder and the target functional component according to the image.

[0023] For example, in the method for automatic disassembly and installation of a plunger pump provided by an embodiment of the present disclosure, in the working state of the plunger pump, the functional components include: a plunger, a valve spring seat sleeve, a first valve spring seat, and a first valve spring. The plunger extends horizontally; the valve spring seat sleeve is located on one side of the plunger in the horizontal direction and has a hollow housing; the first valve spring seat is detachably connected to the valve spring seat sleeve and is located on one side of the housing in the longitudinal direction, where the longitudinal direction is perpendicular to the horizontal direction; the first valve spring is sleeved on the first valve spring seat and can expand and contract along the longitudinal direction; the second driving mechanism includes a lever driving mechanism, and the lever member includes: a lever and a rod-shaped branch. The lever includes a lever body and a lever connecting portion. The lever body includes a first end that can be detachably connected to the working end of the first robotic arm and a second end opposite to the first end. The lever connecting portion is connected to the second end of the lever body; the rod-shaped branch is connected to the lever body and extends in a direction perpendicular to the extending direction of the lever body, and includes a branch body and a spring compression portion; the branch body includes a first end connected to the lever body and a second end opposite to the first end, and the spring compression portion is connected to the second end of the branch body. The spring compression portion has a pressing surface away from the lever body. The method includes: detachably connecting the lever member to the working end of the first robotic arm; controlling, by the control system, the first robotic arm to drive the lever member to move so that the lever body passes through the housing of the valve spring seat sleeve, where the lever connecting portion is connected to the plunger, and the rod-shaped branch passes through the housing of the valve spring seat sleeve in the longitudinal direction perpendicular to the extending direction of the lever body; and driving, by the lever driving mechanism, the lever connecting portion to perform a lever movement with the position where it is connected to the plunger as a fulcrum to drive the pressing surface to move along the longitudinal direction to press the first valve spring seat and the first valve spring along the longitudinal direction, so that the first valve spring seat moves along the longitudinal direction and compresses the first valve spring along the longitudinal direction, so as to separate the valve spring seat sleeve from the first valve spring seat. The at least one clamping member includes a first clamping member, and the second driving mechanism includes a clamping driving mechanism; the method further includes: detachably connecting the first clamping member to the working end of the second robotic arm; and while the pressing surface presses the first valve spring seat and the first valve spring along the longitudinal direction, driving, by the clamping driving mechanism, the first clamping member to clamp the valve spring seat sleeve, and driving, by the second robotic arm, the first clamping member to move the valve spring seat sleeve out of the hydraulic end.

[0024] For example, in the automatic disassembly and installation method of a plunger pump provided by an embodiment of the present disclosure, the first cavity intersects and communicates with the second cavity. The first cavity extends along the transverse direction, and the second cavity extends along the longitudinal direction. The first cavity has a first end and a second end that are opposite to each other in the transverse direction, and the second cavity has a first end and a second end that are opposite to each other in the longitudinal direction. In the working state of the plunger pump, the second functional component includes: a second gland, the valve spring seat sleeve, the first valve spring seat, and the first valve spring. The second gland is located at the first end of the second cavity. The valve spring seat sleeve is snap-fitted at the intersection of the first cavity and the second cavity. The housing has a right opening facing the first end of the first cavity, a left opening facing the second end of the first cavity, and a lower opening facing the second end of the second cavity. The first valve spring seat is located on the side of the housing having the lower opening and has a through hole extending through the first valve spring seat in the longitudinal direction, and the through hole communicates with the lower opening of the first valve spring seat. The lever member enters the intersection of the first cavity and the second cavity through the first end of the first cavity. The lever body sequentially passes through the housing through the right opening and the left opening of the housing so that the lever connecting portion is connected to the plunger, and the rod-shaped branch passes through the lower opening of the valve spring seat sleeve in the longitudinal direction.

[0025] For example, the automatic disassembly and installation method of a plunger pump provided by an embodiment of the present disclosure further includes: obtaining the working state of the functional components of the hydraulic end and determining whether the functional components need to be disassembled according to the working state of the functional components; and when the functional components need to be disassembled, detachably connecting the working member matching the functional components to be disassembled to the working end of the first robotic arm.

[0026] For example, in the automatic disassembly and installation method of a plunger pump provided by an embodiment of the present disclosure, the second driving mechanism further includes a rotational driving mechanism. The method further includes: driving the rotary pulling member to rotate through the rotational driving mechanism; obtaining the torque value generated when the rotary pulling member rotates, wherein when the torque value reaches the torque warning value, an over-torque alarm signal is issued, and the rotation of the rotary pulling member is controlled to stop. Description of the Drawings

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings of the embodiments will be briefly introduced below. Obviously, the drawings described below only relate to some embodiments of the present invention and do not limit the present invention.

[0028] Figure 1A Schematic diagram of an automatic disassembly and installation system for a plunger pump provided by at least one embodiment of the present disclosure;

[0029] Figure 1B Schematic diagrams of an automatic disassembly and installation system for a plunger pump and the hydraulic end of the plunger pump provided by at least one embodiment of the present disclosure;

[0030] Figure 2 For Figure 1B An enlarged schematic diagram of the hydraulic end of the plunger pump in the local L in

[0031] Figures 3A - 3G Schematic diagrams of multiple working components of an automatic disassembly and installation system for a plunger pump provided by at least one embodiment of the present disclosure;

[0032] Figures 4A - 4H Schematic diagram of the disassembly of a plunger pump by an automatic disassembly and installation system for a plunger pump provided by at least one embodiment of the present disclosure. Detailed implementation manners

[0033] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the described embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0034] Unless otherwise defined, the technical terms or scientific terms used herein shall have the ordinary meanings understood by those of ordinary skill in the art to which the present invention pertains. The "first", "second" and similar terms used in the specification and claims of this patent application for the present invention do not denote any order, quantity or importance, but are only used to distinguish different components. The terms such as "including" or "comprising" mean that the elements or items appearing before this word cover the elements or items listed after this word and their equivalents, without excluding other elements or items. The terms such as "inside", "outside", "above", "below", etc. are only used to represent relative positional relationships, and when the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0035] The drawings in the present disclosure are not strictly drawn to actual scale, and the number of robotic arms is not limited to the number shown in the figures. The specific dimensions and quantities of each structure can be determined according to actual needs. The drawings described in the present disclosure are only schematic diagrams of the structures.

[0036] At least one embodiment of the present disclosure provides an automatic disassembly and installation system for a plunger pump. The automatic disassembly and installation system of the plunger pump includes a plurality of working members, a first robotic arm, a first driving mechanism, and a second driving mechanism. The plurality of working members includes a rotary pulling member, a lever member, and at least one clamping member; the first robotic arm includes a working end and a connecting end opposite to the working end, and the working end of the first robotic arm is configured to be detachably connected to each of the plurality of working members respectively; the first driving mechanism is connected to the connecting end of the first robotic arm and is configured to drive the first robotic arm to move in a three-dimensional space; the second driving mechanism is configured to drive the working members connected to the working end to work.

[0037] Exemplarily, Figure 1A is a schematic diagram of an automatic disassembly and installation system for a plunger pump provided by at least one embodiment of the present disclosure. Figure 1B is a schematic diagram of a plurality of working members of an automatic disassembly and installation system for a plunger pump provided by at least one embodiment of the present disclosure. Figures 3A - 3G is a schematic diagram of a plurality of working members of an automatic disassembly and installation system for a plunger pump provided by at least one embodiment of the present disclosure. As Figures 1A - 1B and Figures 3A - 3G shown, the automatic disassembly and installation system of the plunger pump includes a plurality of working members 1, a first robotic arm 10, a first driving mechanism, and a second driving mechanism (not shown in the figure). The plurality of working members 1 includes a rotary pulling member 1A / 1B / 1E, a lever member 1F, and at least one clamping member 1G / 2G / 3G. The first robotic arm 10 includes a working end 10B and a connecting end 10A opposite to the working end 10B; the first driving mechanism is connected to the connecting end of the first robotic arm 10 and is configured to drive the first robotic arm 10 to move in a three-dimensional space. The working end 10B of the first robotic arm 10 is configured to be detachably connected to each of the plurality of working members 1 respectively. The second driving mechanism is configured to drive the working members connected to the working end 10B of the first robotic arm 10 to work, so as to complete the disassembly and installation of a plurality of functional components. The automatic disassembly and installation system and method for a plunger pump provided by the embodiments of the present disclosure take less time when replacing the components of the hydraulic end of the plunger pump. Especially when replacing components with high disassembly difficulty such as the valve seat spring sleeve, the valve seat, and the plunger, the effect of saving time and effort is obvious, and it can avoid safety accidents such as workers being hit by components and spraining their waists during the process of manually replacing the components of the hydraulic end.

[0038] As Figure 1B - 2As shown, the plunger pump includes a hydraulic end 100. The hydraulic end includes a first cavity 01 and a plurality of first functional components located within the first cavity 01. The automatic disassembly and installation system of the plunger pump further includes a control system, and the control system is respectively communicatively connected to a first driving mechanism and a second driving mechanism. The control system is configured to control the first driving mechanism to drive the first robotic arm 10 to move in the extending direction of the first cavity 01, and control the first robotic arm 10 to drive a plurality of working components into the first cavity 01, and is configured to control the matching connection with the plurality of first functional components in the first cavity 01 respectively, so as to disassemble or install the plurality of first functional components in the first cavity 01.

[0039] The control system may include a processor and a memory. The processor may be, but is not limited to: a central processing unit, a single-chip microcomputer, a microprocessor, or a programmable logic device.

[0040] It can be understood that the memory may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM). The memory is intended to include, but is not limited to, these and any other suitable types of memory.

[0041] For example, the memory stores elements such as executable modules or data structures, or subsets thereof, or extended sets thereof: an operating system and application programs, corresponding executed modules such as an evaluation module and a determination module. Among them, the operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, etc., for implementing various basic services and processing hardware-based tasks. The application programs include various application programs, such as a MediaPlayer, a Browser, etc., for implementing various application services. The program for implementing the method of the embodiment of the present disclosure may be included in the application programs.

[0042] For example, the hydraulic end further includes a second cavity 02 and a plurality of second functional components located in the second cavity 02. The control system is further configured to control the first driving mechanism to drive the first robotic arm 10 to move in the extending direction of the second cavity 02, and control the first robotic arm 10 to drive a plurality of working members into the second cavity 02 and respectively match and connect with the plurality of second functional components in the second cavity 02 to disassemble or install the plurality of second functional components in the second cavity 02.

[0043] For example, the second driving mechanism may be located at the working end 10B of the first robotic arm 10 and includes a motor. For example, the second driving mechanism is detachably connected to the working end 10B of the first robotic arm 10. Before disassembling or installing the plunger pump, the second driving mechanism can be manually installed on the working end 10B of the first robotic arm 10; alternatively, the working end 10B of the first robotic arm 10 includes a hollow housing, and the second driving mechanism is located inside the housing of the working end 10B.

[0044] For example, the communication connection between the control system and the first driving mechanism and the second driving mechanism can be a wired connection or a wireless connection. For example, the control system can be arranged on the first robotic arm 10, for example, inside the housing of the working end 10B, facilitating a wired electrical connection with the first robotic arm 10. The wires or circuit boards for electrically connecting the two can be arranged inside the housing of the working end 10B. The present disclosure does not limit the specific setting manner of the control system and its communication connection manner with the first driving mechanism and the second driving mechanism. Those skilled in the art can design it using common techniques in the art.

[0045] Reference Figure 2, for example, the first cavity 01 intersects and communicates with the second cavity 02. The first cavity 01 extends transversely, and the second cavity 02 extends longitudinally. The first cavity 01 has a first end 01A and a second end 01B that are opposite to each other in the transverse direction. The second cavity 02 has a first end 02A and a second end 02B that are opposite to each other in the longitudinal direction. For example, the longitudinal direction is perpendicular to the transverse direction. For example, in the working state of the plunger pump, the first functional component includes a first gland 01a, a first gland cover 01b, and a plunger 01c. The first gland 01a is located at the first end 01A of the first cavity 01. The plunger 01c extends transversely and is located at the second end 01B of the first cavity 01. The second functional component includes a second gland 01b, a first gland cover 02b, a first valve spring seat 02j, a first valve spring 02k, a first valve body 02c, a first valve body seat 02d, a valve spring seat sleeve 02e, a second valve spring seat 02f, a second valve spring 02g, a second valve body 02h, and a second valve body seat 02i. The second gland 01b is located at the first end 02A of the second cavity 02. The valve spring seat sleeve 02e is located on one side of the plunger 01c in the transverse direction and has a hollow housing. The first valve spring seat 02j is detachably connected to the valve spring seat and is located on one side of the housing close to the second end 02B of the second cavity 02 in the longitudinal direction. The valve spring seat sleeve 02e is located on one side of the plunger 01c in the transverse direction, and the hollow housing is clamped at the intersection of the first cavity 01 and the second cavity 02. The first gland cover 01b contacts the valve spring seat sleeve 02e. The first gland cover 01b and the first gland 01a seal the first end 01A of the first cavity 01 and jointly fix the valve spring seat sleeve 02e with the plunger 01c and the cavity wall. The housing of the valve spring seat sleeve 02e has a right opening e2 facing the first end 01A of the first cavity 01, a left opening e1 facing the second end 01B of the first cavity 01, and a lower opening e3 facing the second end of the second cavity 02. The first valve spring 02k is sleeved on the first valve spring seat 02j and can be telescoped longitudinally. The first valve spring seat 02j is located on the side of the housing of the valve spring seat sleeve 02e having the lower opening e3 and has a through hole 02f-1 longitudinally penetrating the first valve spring seat 02j, and the through hole 02f-1 communicates with the lower opening e3 of the first valve spring seat 02j. The first valve body 02c is installed on the first valve body seat 02d. The second valve spring 02g is sleeved on the second valve spring seat 02f and can be telescoped longitudinally. The second valve body 02h is installed on the second valve body seat 02i. For example, the second valve spring seat 02f and the second valve body 02h are integrally formed or separately provided; or, the second valve spring seat 02f and the first gland cover 02b are integrally formed or separately provided. The first gland cover 02b is connected to the second valve spring seat 02f. The second gland 01b and the first gland cover 02b seal the first end 02A of the second cavity 02 and fix the second valve spring seat 02f.

[0046] Of course, in some embodiments, the hydraulic end 100 of the plunger pump may also include only the first cavity 01 or only the second cavity 02. Here, the case where the hydraulic end 100 of the plunger pump includes Figure 2 the first cavity 01 and the second cavity 02 shown in the figure is taken as an example to introduce the automatic disassembly and installation system of the plunger pump and the method for automatically disassembling and installing the hydraulic end 100 of the plunger pump.

[0047] For example, the automatic disassembly and installation system of the plunger pump provided by at least one embodiment of the present disclosure further includes a detection module, and the detection module is configured to obtain the working state of the first functional component or the second functional component and judge whether the first functional component or the second functional component needs to be disassembled according to the working state. The control system includes a loading control module, and the loading control module is configured to: when the first functional component or the second functional component needs to be disassembled, control the working end of the first robotic arm to be detachably connected to the working member that is connected and matched with the first functional component or the second functional component to be disassembled.

[0048] For example, the detection module includes an image sensing device 16A and a judgment module; the image sensing device 16A is arranged at the working end of the first robotic arm 10 and is configured to obtain an image of the first functional component or the second functional component and transmit the image to the judgment module; the judgment module judges whether the first functional component or the second functional component needs to be disassembled according to the image. For example, the judgment module and the loading control module may include software or hardware. For example, as Figure 1B shown, the image sensing device 16A is arranged on the outer surface of the working end 10B of the first robotic arm 10 to facilitate obtaining an image of the first functional component or the second functional component. For example, the automatic disassembly and installation system of the plunger pump provided by at least one embodiment of the present disclosure includes a plurality of robotic arms, for example, it further includes a second robotic arm 20 and a third robotic arm 30. For example, an image sensing device 16A and an image sensing device 16C are respectively arranged on the second robotic arm 20 and the third robotic arm 30, so that an image of the first functional component or the second functional component can be obtained through each robotic arm.

[0049] For example, as Figure 1B shown, the first robotic arm 10 includes a joint 10a and a first sub-arm 101 and a second sub-arm 102 connected by the joint 10a; for example, the first sub-arm 101 can rotate 360° around the joint 10a. The second robotic arm 20 and the third robotic arm 30 also have a structure similar to that of the first robotic arm 10.

[0050] The automatic disassembly and installation method of a plunger pump provided by at least one embodiment of the present disclosure includes: driving a first robotic arm to move in a three-dimensional space by a first driving mechanism, wherein the first robotic arm includes a working end and a connection opposite to the working end, the first driving mechanism is connected to the working end of the first robotic arm, and the working end of the first robotic arm is configured to be detachably connected to each of a plurality of working components respectively; and driving the working components connected to the working end to work by a second driving mechanism, wherein the plurality of working components includes a rotary pulling component, a lever component, and at least one clamping component.

[0051] For example, the automatic disassembly and installation method of a plunger pump further includes: obtaining the working state of the functional components of the hydraulic end and determining whether the functional components need to be disassembled according to the working state of the functional components; and when the functional components need to be disassembled, detachably connecting the working component matching the functional component to be disassembled to the working end of the first robotic arm.

[0052] For example, the automatic disassembly and installation method of a plunger pump further includes: controlling the first driving mechanism by a control system to drive the first robotic arm 10 to move in the extending direction of the first cavity 01, and controlling the first robotic arm 10 to drive a plurality of working components to enter the first cavity and respectively match and connect with a plurality of first functional components in the first cavity 01 to disassemble or install the plurality of first functional components in the first cavity 01; and controlling the first driving mechanism by the control system to drive the first robotic arm 10 to move in the extending direction of the second cavity 02, and controlling the first robotic arm 10 to drive a plurality of working components to enter the second cavity 02 and respectively match and connect with a plurality of second functional components in the second cavity 02 to disassemble or install the plurality of second functional components in the second cavity 02.

[0053] For example, a plunger pump includes a plurality of cylinders, each of the plurality of cylinders includes a first cavity 01 and / or a second cavity 02; the automatic disassembly and installation method of the plunger pump further includes: determining a target cylinder among the plurality of cylinders that needs to replace the functional components therein, and determining the target functional components that need to be replaced in the target cylinder; selecting a target working component matching the target functional component from the plurality of working components, detachably connecting the target working component to the working end of the first robotic arm; and controlling the first robotic arm to move by the control system to drive the target working component to move to the position of the target functional component, and driving the target working component to move by the second driving mechanism to match and connect with the target functional component and disassemble the target functional component.

[0054] Figures 4A - 4G Schematic diagram of disassembling a plunger pump by an automatic disassembly and installation system of a plunger pump provided by at least one embodiment of the present disclosure. The following takes Figures 4A - 4GFor example, when a functional component in at least one cylinder of the hydraulic end 100 of a piston pump needs to be replaced, an automatic disassembly and installation system for the piston pump provided by at least one embodiment of the present disclosure and a method for disassembling and installing the piston pump using this system will be introduced. It should be noted that in this embodiment, the method for disassembling the functional components of the hydraulic end 100 of the piston pump is taken as an example. The installation sequence of these functional components is the reverse of their disassembly sequence. The working mechanism of each component is the same as when disassembling the component, and other working mechanisms are supplemented for cooperation when necessary to install each functional component back to its original position.

[0055] The automatic disassembly and installation method of the piston pump further includes: obtaining the working state of the functional component of the hydraulic end and judging whether the functional component needs to be disassembled according to the working state of the functional component; and when the functional component needs to be disassembled, detachably connecting a working member matching the functional component to be disassembled to the working end of the first robotic arm.

[0056] As Figure 3A and Figure 3B shown, the rotary pulling member includes a first rotary pulling member 1A and a second rotary pulling member 1B. As Figure 3A shown, the first rotary pulling member 1A includes a first rotary pulling main body A1 and a columnar first rotary pulling connecting portion A2 connected to the first rotary pulling main body A1. The first rotary pulling main body A1 is configured to be detachably connected to the working end 10B of the first robotic arm 10; the second driving mechanism further includes: a rotary driving mechanism and a pulling driving mechanism. The rotary driving mechanism is configured to drive the first rotary pulling main body A1 and the columnar first rotary pulling connecting portion A2 to rotate; the pulling driving mechanism is configured to drive the first rotary pulling member 1A to move.

[0057] Figure 4A shown, the automatic disassembly and installation method of the piston pump includes: detachably connecting the first rotary pulling main body A1 to the working end of the first robotic arm 10; driving the first robotic arm 10 to move in a three-dimensional space by the first driving mechanism and driving the first rotary pulling main body A1 and the columnar first rotary pulling connecting portion A2 to rotate along a first rotation axis parallel to the lateral direction so as to matchably connect the rotary pulling connecting portion with the first disassembly connecting portion of the first compression cap 01a; then, driving the first rotary pulling main body A1 and the columnar first rotary pulling connecting portion A2 to rotate by the rotary driving mechanism and driving the first rotary pulling member 1A to move, for example, move along the lateral direction, so as to disassemble the first compression cap 01a from the first channel (during the installation process, install the first compression cap 01a into the first channel).

[0058] Similarly, the first robotic arm 10 can be used in cooperation with the first rotary pulling member 1A to remove or install the second compression cap 01b into or from the second cavity 02.

[0059] For example, the first rotary pulling connection part A2 is a rotatable internal hexagonal structure, and of course, it can also be a prismatic structure with other polygons. For example, the first disassembly connection part is a duct, and the first rotary pulling connection part A2 is complementary in shape to the duct.

[0060] For example, in combination with Figure 1B , the plunger pump automatic disassembly and installation system further includes a third robotic arm 30. The third robotic arm 30 includes a working end 30B and a connection end 30A opposite to the working end 30B. The working end 30B of the third robotic arm 30 is configured to be detachably connected to each of a plurality of working members respectively, and drive the working members connected to the working end 30B of the third robotic arm 30 to work. For example, the specific structure of the third robotic arm 30 is the same as or similar to that of the first robotic arm 10, and the fixed positions of the connection ends of the two are different. For example, the first functional component located in the first cavity 01 can be disassembled and installed by the third robotic arm 30, and at least part of the second functional components (for example, except the valve body spring seat sleeve) located in the second cavity 02 can be disassembled and installed by the third robotic arm 30. In this way, the first robotic arm 10 and the third robotic arm 30 operate on different cavities respectively, which can improve the disassembly efficiency.

[0061] For example, the connection end 10A of the first robotic arm 10 structure is fixed to the first plane, and the connection end 30A of the third robotic arm 30 structure is fixed to the second plane 22, and the first plane 21 is perpendicular to the second plane 22. For example, the first robotic arm 10 or the third robotic arm 30 can be used to disassemble and install the second compression cap 01b located in the second cavity 02, which is more convenient for operation. Of course, the spatial positions of the first robotic arm 10 and the third robotic arm 30 are flexible, and the positions of the first plane 21 and the second plane 22 are not limited to be Figure 1B the situation shown, as long as it can cooperate with the positions and extension directions of the first cavity 01 or the second cavity 02 where they operate respectively, and the embodiments of the present disclosure do not limit this.

[0062] Such as Figure 3BAs shown, the second rotary pulling member 1B includes a second rotary pulling main body B1 and a columnar second rotary pulling connecting portion B2 connected to the second rotary pulling main body B1. For example, the end of the second rotary pulling connecting portion B2 away from the second rotary pulling main body B1 has a prismatic structure or an external thread. The second rotary pulling main body B1 is configured to be detachably connected to the working end of the second robotic arm; the second driving mechanism further includes: a rotary driving mechanism and a pulling driving mechanism. The rotary driving mechanism is configured to drive the second rotary pulling main body B1 and the columnar second rotary pulling connecting portion B2 to rotate; the pulling driving mechanism is configured to drive the second rotary pulling member 1B to move.

[0063] As Figure 4B shown, the automatic disassembly and installation method of the plunger pump further includes: detachably connecting the second rotary pulling main body B1 to the working end of the first robotic arm 10; driving the first robotic arm 10 to move in a three-dimensional space through the first driving mechanism and driving the second rotary pulling main body B1 and the columnar second rotary pulling connecting portion B2 to rotate along a second rotation axis parallel to the lateral direction through the rotary driving mechanism, so as to matchably connect the rotary pulling connecting portion with the first disassembly connecting portion of the first gland 01b; then, driving the second rotary pulling main body B1 and the columnar second rotary pulling connecting portion B2 to rotate through the rotary driving mechanism, and driving the second rotary pulling member 1B to move, for example, move along the lateral direction, through the pulling driving mechanism, so as to disassemble the first gland 01b from the first channel (during the installation process, install the first gland 01b into the first channel).

[0064] Similarly, the first robotic arm 10 and the second rotary pulling member 1B can be used in cooperation to disassemble the first gland 02b from the second cavity 02 or install it into the second cavity 02.

[0065] As Figure 3F shown, for example, the lever member 1F includes a lever F1 and a rod-shaped branch F2. The lever F1 includes a lever main body F10 and a lever connecting portion; the lever main body F10 includes a first end F11 that can be detachably connected to the working end of the first robotic arm 10 and a second end F12 opposite to its first end F11, and the lever connecting portion is connected to the second end F12 of the lever main body F10; the rod-shaped branch F2 is connected to the lever main body F10, extends in a direction perpendicular to the extending direction of the lever main body F10, and includes a branch main body F20 and a spring compression portion. The branch main body F20 includes a first end connected to the lever main body F10 and a second end opposite to its first end, and the spring compression portion is connected to the second end of the branch main body F20. The spring compression portion has a pressing surface F20 away from the lever main body F10, and the pressing surface F20 needs to be large enough to compress the hollow valve spring seat and the spring. The second driving mechanism includes a lever driving mechanism, and the lever driving mechanism is configured to drive the lever to perform a lever movement to drive the pressing surface F20 to move.

[0066] As shown Figure 4C in the figure, the automatic disassembly and installation method of the plunger pump further includes: detachably connecting the lever member 1F to the working end of the first robotic arm 10; controlling the first robotic arm 10 by the control system to drive the lever member 1F to move so that the lever body F10 passes through the housing of the valve spring seat sleeve 02e, and connecting the lever connecting portion to the plunger 01c, and the rod-shaped branch F2 longitudinally passes through the housing of the valve spring seat sleeve 02e in a direction perpendicular to the extending direction of the lever body F10; and driving the lever connecting portion by the lever driving mechanism to perform a lever movement with the position where it is connected to the plunger 01c as a fulcrum to drive the pressing surface F20 to move longitudinally to longitudinally press the first valve spring seat 02j and the first valve spring 02k, so that the first valve spring seat 02j moves longitudinally and longitudinally compresses the first valve spring 02k, so as to separate the valve spring seat sleeve 02e from the first valve spring seat 02j. Since in Figure 1B - 2 the structure of the hydraulic end 100 of the plunger pump shown in the figure, the valve spring seat sleeve 02e is clamped at the intersection of the first cavity 01 and the second cavity 02 by the cavity arm of the first cavity 01 and the cavity wall of the second cavity 02, and is difficult to disassemble. The above method can smoothly realize the automatic disassembly of the valve spring seat sleeve 02e.

[0067] For example, referring to Figure 1B , the automatic disassembly and installation system of the plunger pump further includes a second robotic arm 20. The second robotic arm includes a working end and a connecting end opposite to the working end. At least one clamping member includes a first clamping member 1G, and the first clamping member 1G can be detachably connected to the working end 02B of the second robotic arm 20. The second driving mechanism includes a clamping driving mechanism, and the clamping driving mechanism is configured to: while the first robotic arm 10 drives the lever member 1F to work, drive the first clamping member 1G to perform a clamping operation.

[0068] For example, the connecting end 20A of the second robotic arm 20 is also fixed to the first plane 21. Of course, the connecting end 20A of the structure of the second robotic arm can also be fixed to other planes. The embodiments of the present disclosure do not limit the position of the connecting end 20A of the second robotic arm 20. For example, in at least one embodiment, the connecting end 20A of the second robotic arm 20 and the connecting end 10A of the first robotic arm 10 can be the same connecting end, and the two are separated from each other at the fixed end; for example, the second robotic arm 20 and the first robotic arm 10 are thinner than the third robotic arm 30, so as to facilitate the two to enter the first cavity 01 at the same time for operation.

[0069] For example, the lever member 1F enters the intersection of the first cavity 01 and the second cavity 02 via the first end of the first cavity 01. The lever main body F10 sequentially passes through the housing via the right opening e2 and the left opening e1 of the housing to connect the lever connecting portion with the plunger 01c, and the rod-shaped branch F2 longitudinally passes through the lower opening e3 of the valve spring seat sleeve 02e. For example, one end of the plunger 01c near the first end 10A of the first cavity 10 has a plunger hole 01c-1, and the lever connecting structure enters the plunger hole 01c-1 and is complementary in shape to the plunger hole 01c-1 to improve the stability of the lever member.

[0070] For example, the automatic disassembly and installation method of the plunger pump further includes: detachably connecting the first clamping member 1G to the working end of the second robotic arm; and while the pressing surface F20 presses the first valve spring seat 02j and the first valve spring 02k longitudinally, driving the first clamping member 1G to clamp the valve spring seat sleeve 02e through the clamping driving mechanism, and driving the first clamping member 1G to move the valve spring seat sleeve 02e out of the hydraulic end through the second robotic arm.

[0071] Similarly, during the installation process of the valve spring seat sleeve 02e, the control system can control the first robotic arm 10 to drive the lever member 1F to move so that the lever main body F10 passes through the housing of the valve spring seat sleeve 02e, and connect the lever connecting portion with the plunger 01c. The lever driving mechanism drives the lever connecting portion to perform a lever movement with the position where it is connected to the plunger 01c as the fulcrum to drive the pressing surface F20 to move longitudinally to longitudinally press the first valve spring seat 02j and the first valve spring 02k, so that the first valve spring seat 02j moves longitudinally and longitudinally compresses the first valve spring 02k, thereby increasing the space at the intersection of the first cavity 01 and the second cavity 02 in the longitudinal direction; at the same time, the control system controls the second robotic arm to drive the second clamping member to clamp the valve spring seat sleeve 02e sleeved on the lever main body F10 and move the valve spring seat sleeve 02e to the target position, that is Figure 4C the position where the shown valve spring seat sleeve 02e is located before disassembly, so that the valve spring seat sleeve 02e is installed at the target position.

[0072] For example, in at least one embodiment, Figure 3F the second end F12 of the shown lever member 1F can be used as the lever connecting portion; the second end of the branch main body F20 constitutes the spring compression portion, and the second end face F201 constitutes the pressing surface F20 of the spring compression portion.

[0073] For another example, Figure 3G is a schematic diagram of another lever member 1F provided by at least one embodiment of the present disclosure. As Figure 3GAs shown, the second end of the lever main body F10 has a first end face F120 away from the first robotic arm 10. The lever connecting portion F13 is disposed on the first end face F120 and has the same extending direction as the lever main body F10. Moreover, the size of the cross-section of the lever connecting portion F13 parallel to the first end face F120 is smaller than that of the first end face F120, so that a first stepped structure is formed at the connection between the lever connecting portion F13 and the lever main body F10; the second end of the branch main body F20 has a second end face F201 away from the lever main body F10. In this way, the lever connecting portion F13 enters the plunger hole 01c-1 and is complementary in shape to the plunger hole 01c-1. And, the end face of the first end 01A of the plunger 01c close to the first cavity 01 is in contact with the first end face F120, further improving the stability of the lever member.

[0074] For example, a spring compression portion F21 is disposed on the second end face F201, and the size of the cross-section of the spring compression portion F21 parallel to the second end face F201 is smaller than that of the second end face F201, so that a second stepped structure is formed at the connection between the spring compression portion F21 and the branch main body F20. In this way, during the steps shown when the lever connecting portion F13 Figure 4C is performing, the spring compression portion F21 can be inserted into the through hole 02f-1 of the first valve spring seat 02j, and is better connected to the first valve spring seat 02j, making the pressure application surface F20 of the spring compression portion F21 pressing on the first valve spring seat 02j more stable, so that the operation of compressing the spring is more reliable.

[0075] In the case of adopting the Figure 3G lever member 1F shown, for example, when the lever connecting portion F13 enters

[0076] As Figure 3C shown, the plurality of working members further includes a pulling member 1C. The pulling member includes a pulling main body C1 and a first pulling portion C2 and a second pulling portion C3 connected to the pulling main body C1; the pulling main body C1 is configured to be detachably connected to the working end of the first robotic arm 10. The first pulling portion C2 has a first end connected to the pulling main body C1 and a second end away from the pulling main body C1. The second pulling portion C3 has a first end connected to the pulling main body C1 and a second end away from the pulling main body C1. The first end of the first pulling portion C2 and the first end of the second pulling portion C3 are spaced apart from each other; the first end of the first pulling portion C2 has a first hook portion C21 bent in a direction away from the pulling portion, and the first end of the second pulling portion C3 has a second hook portion C22 bent in a direction away from the first pulling portion C2; the second driving mechanism includes a pulling driving mechanism configured to drive the pulling member to move. Refer to Figure 1B, at least one clamping component includes a second clamping component 2G (provided separately from the first clamping component 1G or sharing the function of the first clamping component 1G as the second clamping component), and the second clamping component can be detachably connected to the working end of the second robotic arm. The second clamping component 2G is the same as the first clamping component 1G, and the clamping openings of both can be adjusted by a clamping driving structure under the control of the control system to be suitable for clamping functional components of different sizes and shapes. Alternatively, the second clamping component 2G is different from the first clamping component 1G so that they are respectively suitable for the functional components to be clamped by each of them.

[0077] As Figures 4D - 4E shown, different working components are connected to the working end of the third robotic arm 30, and by controlling the movement of the third robotic arm 30, the working end of the third robotic arm 30 is moved longitudinally in the second cavity 02 to respectively connect different working components to the corresponding second functional components in a matching manner, and a plurality of second functional components are disassembled sequentially. For example, the pulling main body C1 is detachably connected to the working end 20B of the second robotic arm 20; by the movement of the second robotic arm 20, the first hook portion C21 and the second hook portion C22 are connected to the first valve body 02c at a preset position in a matching manner, and by the pulling driving mechanism, the first hook portion C21 and the second hook portion C22 apply a longitudinal pulling force to the first valve body 02c to disengage the first valve body 02c from the first valve body seat 02d, that is, to loosen the first valve body 02c; then, the pulling component 1C is disassembled from the working end 20B of the second robotic arm 20, and the second clamping component is detachably connected to the working end 20B of the second robotic arm 20. The second clamping component 2G is driven by the clamping driving mechanism to clamp the first valve body 02c, and by driving the second robotic arm 20 to move, the first valve body spring seat 02j, the first valve body 02c, and the first valve body seat 02d are respectively moved out of the second cavity 02. Subsequently, similarly, the second valve body seat 02i, the second valve body spring seat 02f, the second valve body 02h, and the second valve body seat 02i are moved out of the second cavity 02 by a similar method, for example, the above structures are moved out of the second cavity 02 in sequence.

[0078] For example, the first valve body spring seat 02j, the first valve body 02c, the first valve body seat 02d, the second valve body spring seat 02f, the second valve body 02h, and the second valve body seat 02i can be disassembled in sequence from top to bottom in the figure to ensure the smoothness of the disassembly process. Alternatively, after disassembling the first valve body spring seat 02j, the first valve body 02c, the second valve body spring seat 02f, and the second valve body 02h in sequence, the first valve body seat 02d and the second valve body seat 02i can be disassembled.

[0079] For example, the multiple working components further include a prying component. For example, the control system can control at least one third manipulator 30 to move so as to connect the prying component to the working end 30B of the third manipulator 30, and control the prying component to enter the second cavity 02 through the third manipulator to cooperate and connect with the first valve body seat 02d and the second valve body seat 02i in sequence. For example, the second driving mechanism further includes a prying driving mechanism configured to drive the prying component to move so as to pry the first valve body seat 02d and the second valve body seat 02i. After prying the first valve body seat 02d and the second valve body seat 02i, the second clamping component 2G is used to remove the first valve body seat 02d and the second valve body seat 02i from the second cavity 02 in sequence.

[0080] As Figure 1B - 2 shown, for example, the first functional component of the hydraulic end 100 of the plunger pump further includes a packing gland 100a and a packing sealing component 01d. The packing gland 100a is used to fix one end of the plunger 01c away from the first end 01A of the first cavity 01, and the packing sealing component 01d is used to seal the second end of the first cavity 01 to prevent the oil in the first cavity 01 from leaking.

[0081] As Figure 3E and Figure 4F shown, the rotary pulling component further includes a third rotary pulling component 1E. As Figure 3E shown, the third rotary pulling component 1E includes a third rotary pulling main body E1 and a columnar third rotary pulling connecting portion E2 connected to the third rotary pulling main body E1. The third rotary pulling main body E1 is configured to be detachably connected to the working end of the first robotic arm 10. The rotary driving mechanism is configured to drive the third rotary pulling main body E1 and the columnar third rotary pulling connecting portion E2 to rotate; the pulling driving mechanism is configured to drive the third rotary pulling component 1E to move. For example, the structure of the third rotary pulling component 1E can refer to the second rotary pulling component 1B, but their specifications are different. The third rotary pulling component 1E is used for mating connection with the disassembly connection structure of the packing gland 100a, such as internal threads.

[0082] As Figure 4FAs shown, the automatic disassembly and installation method of the plunger pump further includes: detachably connecting the third rotary pulling main body to the working end of the first robotic arm 10 (or other robotic arms such as the third robotic arm 30); driving the first robotic arm 10 to move in three-dimensional space through the first driving mechanism and driving the third rotary pulling main body E1 and the columnar third rotary pulling connecting part E2 to rotate through the rotary driving mechanism, so as to connect the rotary pulling connecting part to the disassembly connecting part of the packing gland 100a in a matching manner; then, driving the third rotary pulling main body E1 and the columnar third rotary pulling connecting part E2 to rotate through the rotary driving mechanism, and driving the third rotary pulling member 1E to move through the pulling driving mechanism, so as to disassemble the packing gland 100a from the plunger 01c.

[0083] As Figure 4G As shown, the automatic disassembly and installation method of the plunger pump further includes: detachably connecting the first clamping member 1G to the working end of the second robotic arm; driving the first clamping member 1G to clamp the plunger 01c through the clamping driving mechanism, and driving the first clamping member 1G to move the plunger 01c out of the first cavity 01 through the second robotic arm.

[0084] As Figure 3D As shown, the multiple working members further include a push-pull member 1D. The push-pull member 1D includes a push-pull main body D1, a push-pull connecting part D3, and a push-pull part D2. The push-pull main body D1 is configured to be detachably connected to the working end of the robotic arm; the push-pull connecting part D3 has a first end connected to the push-pull main body D1 and a second end away from the push-pull main body D1; the push-pull part D2 is connected to the push-pull connecting part D3, and the direction from the first end of the connecting part to the second end of the push-pull connecting part D3 is the extending direction of the push-pull connecting part D3, and the push-pull part D2 extends beyond the push-pull connecting part D3 in the direction perpendicular to the extending direction of the push-pull connecting part D3. The second driving mechanism includes a push-pull driving mechanism, and the push-pull driving mechanism is configured to drive the push-pull member 1D to move. For example, the push-pull driving mechanism and the pulling driving mechanism can be the same driving mechanism.

[0085] As Figure 4H As shown, if it is necessary to replace the packing seal member 01d, the automatic disassembly and installation method of the plunger pump includes: detachably connecting the push-pull main body D1 to the working end of the first robotic arm 10; driving the first robotic arm 10 (or other robotic arms such as the third robotic arm 30) to move in three-dimensional space through the first driving mechanism and driving the push-pull part D2 to push the packing seal out of the first cavity 01 through the pulling driving mechanism, so as to complete the disassembly of the hydraulic end 100 of the plunger pump.

[0086] For example, the push-pull main body D1, the first rotary pulling main body A1, the second rotary pulling main body B1, the lever main body F10, etc. and the corresponding second driving mechanism can be connected in a magnetic attraction manner or in other mechanical connection manners. The embodiments of the present disclosure do not limit the connection manner between the second driving mechanism and the corresponding working member.

[0087] For example, the automatic disassembly and installation system of the plunger pump further includes an over-torque protection device. The over-torque protection device is communicatively connected to the control system and is configured to obtain the torque value generated when the rotary pulling member rotates and send the torque value to the control system. Wherein, the control system includes a processing module. The processing module receives the torque value and issues an over-torque alarm signal when the torque value reaches the torque warning value, and controls the over-torque protection device to drive the rotary pulling member to stop rotating. For example, the over-torque protection device can also obtain the number of rotation turns of the rotary pulling member or the image of the corresponding functional component, and judge whether the functional components driven by it, such as the first gland 01a and the second gland 02a, are rotated and disassembled in place or rotated and installed in place through the number of rotation turns of the rotary pulling member or vision technology.

[0088] For example, the automatic disassembly and installation system of the plunger pump further includes a pulling protection device. The pulling protection device is communicatively connected to the control system and is configured to obtain the pulling force value generated by the pulling member during the working process of the pulling member. When the pulling force value reaches the pulling force warning value, the pulling protection device issues an over-pulling alarm signal and controls the pulling member to stop working; and / or, the pulling protection device is further configured to obtain the force value generated during the working process of the rotary pulling member. When the pulling force value reaches the pulling force warning value, the pulling protection device issues an over-pulling alarm signal and controls the rotary pulling member to stop working. Or, for example, the pulling protection device can obtain the length of the corresponding functional component (such as the first gland 01a, the second gland 02a, the first gland 01b, the first gland 02b, the first valve body 02c, the second valve body 02h, etc.) pulled out by the pulling member or the image of the corresponding functional component, and judge whether the removal work of the corresponding functional component is in place through the length of the corresponding functional component pulled out or vision technology.

[0089] For example, it can be in accordance with Figures 4A - 4H During the process of disassembling the hydraulic end 100 of the plunger pump according to the disassembly sequence of each functional component in the illustrated embodiment, as the space is released by the disassembled functional components, the image sensing device 16A of the automatic disassembly and installation system of the plunger pump can be used to detect whether the functional components that have not been disassembled need to be replaced while disassembling, which is beneficial to the accuracy of the detection result obtained by the image sensing device 16A and avoids unnecessary disassembly and installation.

[0090] The above description is only an exemplary embodiment of the present invention and is not used to limit the protection scope of the present invention. The protection scope of the present invention is determined by the appended claims.

Claims

1. An automatic disassembly and installation system for a plunger pump, comprising: A plurality of working members, including a rotary pulling member, a lever member, and at least one clamping member; A first robotic arm, including a working end and a connecting end opposite to the working end, wherein the working end of the first robotic arm is configured to be detachably connected to each of the plurality of working members respectively; A first driving mechanism, connected to the connecting end of the first robotic arm and configured to drive the first robotic arm to move in a three-dimensional space; and A second driving mechanism, configured to drive the working members connected to the working end to work, Wherein, the plunger pump includes a hydraulic end, the hydraulic end includes a first cavity and a plurality of first functional components located in the first cavity, and the automatic disassembly and installation system of the plunger pump further includes: A control system, communicatively connected to the first driving mechanism and the second driving mechanism respectively, Wherein, the control system is configured to control the first driving mechanism to drive the first robotic arm to move in the extending direction of the first cavity, and control the first robotic arm to drive the plurality of working members to enter the first cavity, and respectively match and connect with the plurality of first functional components in the first cavity, so as to disassemble or install the plurality of first functional components in the first cavity; The hydraulic end further includes a second cavity and a plurality of second functional components located in the second cavity, The control system is further configured to control the first driving mechanism to drive the first robotic arm to move in the extending direction of the second cavity, and control the first robotic arm to drive the plurality of working members to enter the second cavity, and respectively match and connect with the plurality of second functional components in the second cavity, so as to disassemble or install the plurality of second functional components in the second cavity, The plunger pump includes a plurality of cylinders, and each of the plurality of cylinders includes the first cavity and / or the second cavity.

2. The plunger pump automatic disassembly and installation system according to claim 1, wherein, The lever member includes: A lever, including a lever body and a lever connecting portion, the lever body includes a first end that can be detachably connected to the working end of the first robotic arm and a second end opposite to its first end, and the lever connecting portion is connected to the second end of the lever body; and A rod-shaped branch, connected to the lever body, extending in a direction perpendicular to the extending direction of the lever body, and including a branch body and a spring compression portion, the branch body includes a first end connected to the lever body and a second end opposite to its first end, the spring compression portion is connected to the second end of the branch body, and the spring compression portion has a pressing surface away from the lever body, The second driving mechanism includes a lever driving mechanism, and the lever driving mechanism is configured to drive the lever to perform a lever motion to drive the pressing surface to move.

3. The automatic disassembly and installation system for a plunger pump according to claim 2, wherein, The second end of the lever body has a first end face away from the first robotic arm. The lever connection part is arranged on the first end face and has the same extending direction as the lever body. Moreover, the dimension of the cross-section of the lever connection part parallel to the first end face is smaller than that of the first end face, so that a first step structure is formed at the connection between the lever connection part and the lever body; The second end of the branch body has a second end face away from the lever body. The second end of the branch body constitutes the spring compression part, and the second end face constitutes the pressing surface of the spring compression part.

4. The plunger pump automatic disassembly and installation system according to claim 3, wherein, The spring compression part is arranged on the second end face, and the dimension of the cross-section of the spring compression part parallel to the second end face is smaller than that of the second end face, so that a second step structure is formed at the connection between the spring compression part and the branch body.

5. The plunger pump automatic disassembly and installation system according to claim 2, further comprising: A second robotic arm, including a working end and a connection end opposite to the working end. Among them, the at least one clamping member includes a first clamping member, and the first clamping member can be detachably connected to the working end of the second robotic arm; The second driving mechanism includes a clamping driving mechanism, and the clamping driving mechanism is configured to: while the first robotic arm drives the lever member to work, drive the first clamping member to perform a clamping operation.

6. The plunger pump automatic disassembly and installation system according to claim 1, wherein, The plurality of working members further includes a pulling member, and the pulling member includes a pulling main body and a first pulling part and a second pulling part connected to the pulling main body; The pulling main body is configured to be detachably connected to the working end of the first robotic arm. The first pulling part has a first end connected to the pulling main body and a second end away from the pulling main body. The second pulling part has a first end connected to the pulling main body and a second end away from the pulling main body. The first ends of the first pulling part and the second pulling part are spaced apart from each other; The first end of the first pulling part has a first hook part bent in a direction away from the pulling part, and the first end of the pulling part has a second hook part bent in a direction away from the first pulling part; The second driving mechanism includes a pulling driving mechanism, and the pulling driving mechanism is configured to drive the pulling member to move.

7. The automatic disassembly and installation system of the plunger pump according to claim 6, wherein, The rotary pulling member includes a rotary pulling main body and a columnar rotary pulling connection part connected to the rotary pulling main body. The rotary pulling main body is configured to be detachably connected to the working end of the first robotic arm; The second driving mechanism further includes: A rotary driving mechanism configured to drive the rotary pulling main body and the columnar rotary pulling connection part to rotate; And A pulling driving mechanism configured to drive the rotary pulling member to move.

8. The plunger pump automatic disassembly and installation system according to claim 1, wherein, The plurality of working members further includes a pushing and pulling member, and the pushing and pulling member includes: A pushing and pulling main body configured to be detachably connected to the working end of the robotic arm; A pushing and pulling connection part having a first end connected to the pushing and pulling main body and a second end away from the pushing and pulling main body; and A push-pull part, connected to the push-pull connection part, wherein the direction from the first end of the connection part to the second end of the push-pull connection part is the extension direction of the push-pull connection part, and the push-pull part extends beyond the push-pull connection part in a direction perpendicular to the extension direction of the push-pull connection part; The second driving mechanism includes a push-pull driving mechanism configured to drive the push-pull member to move.

9. The plunger pump automatic disassembly and installation system according to claim 5, further comprising: A third robotic arm, including a working end and a connection end opposite to the working end, wherein the position of the connection end of the third robotic arm is different from the position of the connection end of the first robotic arm, and the working end of the third robotic arm is configured to be detachably connected to each of the plurality of working members respectively, and drive the working member connected to the working end of the third robotic arm to work.

10. The plunger pump automatic disassembly and installation system according to claim 1, further comprising: A detection module configured to obtain the working state of the first functional component or the second functional component and judge whether the first functional component or the second functional component needs to be disassembled according to the working state, wherein, The control system includes a loading control module configured to: when the first functional component or the second functional component needs to be disassembled, control the working end of the first robotic arm to be detachably connected to the working member that is connected and matched with the first functional component or the second functional component to be disassembled.

11. The plunger pump automatic disassembly and installation system according to claim 10, wherein, The detection module includes an image sensing device and a judgment module; the image sensing device is arranged at the working end of the first robotic arm and is configured to obtain an image of the first functional component or the second functional component and transmit the image to the judgment module; The judgment module judges whether the first functional component or the second functional component needs to be disassembled according to the image.

12. The plunger pump automatic disassembly and installation system according to claim 1, further comprising: An over-torque protection device, communicatively connected to the control system, and configured to obtain the torque value generated when the rotary pulling member rotates, and send the torque value to the control system, wherein the control system includes a processing module, the processing module receives the torque value and issues an over-torque alarm signal when the torque value reaches the torque warning value, and controls the over-torque protection device to drive the rotary pulling member to stop rotating.

13. The plunger pump automatic disassembly and installation system according to claim 6, further comprising: A pulling protection device, communicatively connected to the control system, and configured to obtain the pulling force value generated by at least one of the pulling member and the rotary pulling member during operation, wherein when the pulling force value reaches the pulling force warning value, the pulling protection device issues an over-pulling alarm signal and controls at least one of the pulling member and the rotary pulling member to stop working.

14. A method for automatically disassembling and installing a plunger pump, comprising: Driving a first robotic arm to move in a three-dimensional space by a first driving mechanism, wherein, The first robotic arm includes a working end and a connection end opposite to the working end. The first driving mechanism is connected to the working end of the first robotic arm. The working end of the first robotic arm is configured to be detachably connected to each of a plurality of working members respectively; and driving the working member connected to the working end to work through a second driving mechanism. Among them, the plurality of working members include a rotary drawing member, a lever member, and at least one clamping member, The plunger pump includes a hydraulic end, and the hydraulic end includes: functional components, including a plurality of first functional components; and a first cavity, and the plurality of first functional components are located in the first cavity; The method further includes: controlling, by a control system, the first driving mechanism to drive the first robotic arm to move in the extending direction of the first cavity, and controlling the first robotic arm to drive the plurality of working members to enter the first cavity and respectively be matched and connected with the plurality of first functional components in the first cavity, so as to disassemble or install the plurality of first functional components in the first cavity, The functional components further include a plurality of second functional components, and the hydraulic end further includes a second cavity, and the plurality of second functional components are located in the second cavity; The method further includes: controlling, by the control system, the first driving mechanism to drive the first robotic arm to move in the extending direction of the second cavity, and controlling the first robotic arm to drive the plurality of working members to enter the second cavity and respectively be matched and connected with the plurality of second functional components in the second cavity, so as to disassemble or install the plurality of second functional components in the second cavity, The plunger pump includes a plurality of cylinders, and each of the plurality of cylinders includes the first cavity and / or the second cavity.

15. The method for automatically disassembling and installing a plunger pump according to claim 14, wherein, The method further includes: judging a target cylinder among the plurality of cylinders that needs to replace the functional components therein, and judging a target functional component that needs to be replaced in the target cylinder; selecting a target working member that matches the target functional component from the plurality of working members, and detachably connecting the target working member to the working end of the first robotic arm; and controlling, by the control system, the first robotic arm to move to drive the target working member to move to the position of the target functional component, and driving, by the second driving mechanism, the target working member to move to be matched and connected with the target functional component and disassemble the target functional component.

16. The method for automatically disassembling and installing a plunger pump according to claim 15 further includes: acquiring an image of a working component, and determining the target cylinder and the target functional component according to the image.

17. The automatic disassembly and installation method of the plunger pump according to claim 14, wherein, In the working state of the plunger pump, the functional components include: a plunger, extending transversely; a valve spring seat sleeve, located on one side of the plunger in the transverse direction and having a hollow housing; a first valve spring seat, detachably connected to the valve spring seat, located on one side of the housing in the longitudinal direction, wherein the longitudinal direction is perpendicular to the transverse direction; and The first valve spring is sleeved on the first valve spring seat and can expand and contract along the longitudinal direction; The second driving mechanism includes a lever driving mechanism, and the lever member includes: A lever, including a lever main body and a lever connecting portion. Among them, the lever main body includes a first end that can be detachably connected to the working end of the first robotic arm and a second end opposite to its first end, and the lever connecting portion is connected to the second end of the lever main body; and A rod-shaped branch, connected to the lever main body, extending in a direction perpendicular to the extending direction of the lever main body, and including a branch main body and a spring compression portion. Among them, the branch main body includes a first end connected to the lever main body and a second end opposite to its first end, the spring compression portion is connected to the second end of the branch main body, and the spring compression portion has a pressing surface away from the lever main body; The method includes: Detachably connecting the lever member to the working end of the first robotic arm; Controlling, by the control system, the first robotic arm to drive the lever member to move so that the lever main body passes through the housing of the valve spring seat sleeve. Among them, the lever connecting portion is connected to the plunger, and the rod-shaped branch passes through the housing of the valve spring seat sleeve longitudinally in a direction perpendicular to the extending direction of the lever main body; and Driving, by the lever driving mechanism, the lever connecting portion to perform a lever movement with the position where it is connected to the plunger as a fulcrum to drive the pressing surface to move along the longitudinal direction to press the first valve spring seat and the first valve spring along the longitudinal direction, so that the first valve spring seat moves along the longitudinal direction and compresses the first valve spring along the longitudinal direction, so as to separate the valve spring seat sleeve from the first valve spring seat; The at least one clamping member includes a first clamping member, and the second driving mechanism includes a clamping driving mechanism; the method further includes: Detachably connecting the first clamping member to the working end of the second robotic arm; and While the pressing surface presses the first valve spring seat and the first valve spring along the longitudinal direction, driving the first clamping member to clamp the valve spring seat sleeve by the clamping driving mechanism, and driving the first clamping member by the second robotic arm to move the valve spring seat sleeve out of the hydraulic end.

18. The automatic disassembly and installation method of the plunger pump according to claim 17, wherein, The first cavity intersects and communicates with the second cavity. The first cavity extends along the transverse direction, the second cavity extends along the longitudinal direction. The first cavity has a first end and a second end opposite to each other in the transverse direction, and the second cavity has a first end and a second end opposite to each other in the longitudinal direction; In the working state of the plunger pump, The second functional component includes: A second gland, located at the first end of the second cavity; The valve spring seat sleeve is snap-connected to the intersection of the first cavity and the second cavity. Among them, the housing has a right opening facing the first end of the first cavity, a left opening facing the second end of the first cavity, and a lower opening facing the second end of the second cavity; The first valve spring seat is located on the side of the housing having the lower opening and has a through hole penetrating the first valve spring seat along the longitudinal direction, wherein the through hole communicates with the lower opening of the first valve spring seat; and The first valve spring; Wherein, the lever member enters the intersection of the first cavity and the second cavity through the first end of the first cavity, the lever body sequentially passes through the housing through the right opening and the left opening of the housing so that the lever connection portion is connected to the plunger, and the rod-shaped branch passes through the lower opening of the valve spring seat sleeve along the longitudinal direction.

19. The method for automatically disassembling and installing a plunger pump according to claim 14, further comprising: Obtaining the working state of the functional components of the hydraulic end and judging whether the functional components need to be disassembled according to the working state of the functional components; And When the functional component needs to be disassembled, detachably connecting the working member matching the functional component to be disassembled to the working end of the first robotic arm.

20. The automatic disassembly and installation method of a plunger pump according to claim 14, wherein, The second driving mechanism further includes a rotational driving mechanism; The method further comprises: Driving the rotary pulling member to rotate through the rotational driving mechanism; Obtaining the torque value generated when the rotary pulling member rotates, wherein when the torque value reaches the torque warning value, an over-torque alarm signal is sent out, and the rotation of the rotary pulling member is controlled to stop.

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