Butterfly valve opening method on a container tank

Abstract

The application provides a butterfly valve opening method on a container tank, comprising the following steps: step one, identifying the butterfly valve and judging the state of the butterfly valve; step two, according to the data obtained by identifying the butterfly valve in step one, operating the fixed arm and the moving arm of the butterfly valve operating tool to clamp the fixed rod and the moving rod of the butterfly valve; step three, controlling the moving arm to move towards the fixed arm, so as to drive the moving rod to move towards the fixed rod and finally to be attached to the fixed rod to be unlocked; step four, operating the butterfly valve operating tool to drive the fixed rod and the moving rod to turn upwards around the rotating shaft of the butterfly valve to open the butterfly valve; and step five, when the fixed rod of the butterfly valve is rotated to the vertical state, operating the butterfly valve operating tool to release the fixed rod and the moving rod of the butterfly valve. The butterfly valve opening method provided by the application realizes the opening operation of the butterfly valve through the mechanical arm control of the butterfly valve operating tool, liberates the manual operation, realizes the automation, and solves the problem of operating the butterfly valve in the narrow overflow box space.

Description

Technical Field

[0001] This invention relates to the field of container transportation technology, and in particular to a method for opening a butterfly valve on a container tank. Background Technology

[0002] like Figure 9-10 As shown, the existing container tank 1 has a tank opening 11 on its top for filling and venting. Each tank opening 11 is also equipped with a butterfly valve 12 to control the opening and closing. Since the tank opening 11 is inside the overflow box, the overflow box cover is closed to protect the tank opening when not in use. However, each tank opening 11 is not located at the center of the top of the container tank 1, meaning that each tank opening 11 is not located on a flat surface. This means that the butterfly valve 12 for opening the tank opening 11 is also located on the inclined arc surface of the barrel-shaped container tank. In the presence of an overflow box, the operation of opening the butterfly valve can usually only be done manually, which cannot meet the needs of industrialized automated filling. Summary of the Invention

[0003] The technical problem to be solved by the embodiments of the present invention is to provide a method for opening the butterfly valve on a container tank, thereby solving the problem that the butterfly valve on the container tank can only be operated manually, which is inefficient.

[0004] To solve the above-mentioned technical problems, the present invention provides a method for opening a butterfly valve on a container tank, comprising:

[0005] Step 1: Identify the butterfly valve and determine its status;

[0006] Step 2: Based on the data obtained from identifying the butterfly valve in Step 1, operate the fixed arm (9120) and the movable arm (9130) of the butterfly valve operating tool (9100) to clamp the fixed rod (121) and the movable rod (122) of the butterfly valve respectively.

[0007] Step 3: Control the moving arm (9130) to move towards the fixed arm (9120), thereby driving the moving rod (122) to move towards the fixed rod (121), and finally engage with the fixed rod (121) to unlock;

[0008] Step 4: Operate the butterfly valve operating tool (9100) to drive the fixed rod (121) and the moving rod (122) to rotate upward around the rotation axis of the butterfly valve (12) to open the butterfly valve;

[0009] Step 5: When the fixed rod (121) of the butterfly valve (12) is rotated to the vertical position, operate the butterfly valve operating tool (9100) to release the fixed rod (121) and moving rod (122) of the butterfly valve.

[0010] Step one includes identifying the butterfly valve's position, height, angle of inclination relative to the center of the container tank, distance between the valve stem and the surface of the container tank, and distance between the valve stem end and the overflow box.

[0011] The recognition operation in step one is completed by the 3D camera (9500) of the robotic arm (9000).

[0012] Step two includes controlling the fixed arm of the butterfly valve operating tool (9100), controlling the movable arm (9130) to open, and the distance between the movable arm (9130) and the fixed arm (9120) is greater than the distance between the fixed rod (121) and the movable rod (122); then controlling the hook structure (9121) of the fixed arm (9120) to move from the bottom of the fixed rod (121) from both sides of the valve stem toward the middle, so that the abutting part (9122) abuts against the fixed rod (121); at the same time controlling the movable arm (9130) to move downward to the outside of the movable rod (122).

[0013] Before step two, the process also includes moving the butterfly valve operating tool (9100) driven by the robotic arm (9000) to a position above the butterfly valve (12); and controlling the angle between the fixed arm (9120) and the moving arm (9130) of the butterfly valve operating tool to be the same as the angle between the fixed rod (121) and the moving rod (122) obtained in step one.

[0014] In step three, keep the robotic arm stationary.

[0015] Step four is completed by a robotic arm.

[0016] The butterfly valve opening method on the container tank provided by the present invention realizes the opening operation of the butterfly valve by controlling the butterfly valve operating tool with a robotic arm, freeing up manual labor, realizing automation, and solving the problem of operating the butterfly valve in the confined space of the overflow box. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the robotic arm according to an embodiment of the present invention.

[0018] Figure 2 This is a three-dimensional structural diagram of the butterfly valve operating tool according to an embodiment of the present invention.

[0019] Figure 3 This is a three-dimensional structural diagram of the butterfly valve operating tool according to an embodiment of the present invention.

[0020] Figure 4 This is a three-dimensional structural diagram of the front-end tool connection module according to an embodiment of the present invention (one spring is omitted);

[0021] Figure 5This is a three-dimensional structural diagram of the front-end tool connection module according to an embodiment of the present invention;

[0022] Figure 6 This is an exploded view of the front-end tool connection module according to an embodiment of the present invention;

[0023] Figure 7 This is an exploded structural diagram of the front-end tool connection module according to an embodiment of the present invention.

[0024] Figure 8 This is a three-dimensional structural diagram of the front-end tool connection module according to an embodiment of the present invention.

[0025] Figure 9 This is a three-dimensional structural diagram of a container tank according to an embodiment of the present invention;

[0026] Figure 10 This is a schematic diagram of the side structure of the container tank according to an embodiment of the present invention;

[0027] Figure 11 This is a partial structural diagram of the tank opening and butterfly valve of a container tank according to an embodiment of the present invention;

[0028] Figure 12 This is a schematic diagram of the overall structure of the container tank opening and butterfly valve according to an embodiment of the present invention;

[0029] Figure 13 This is a schematic diagram of the overall structure of the container tank opening and butterfly valve according to an embodiment of the present invention.

[0030] In the picture:

[0031] 1-Container tank; 11- Tank opening; 12-Butterfly valve; 121-Fixed rod; 122-Moving rod; L1-Distance from fixed rod to surface of container tank; L2-Distance from moving rod to surface of container tank;

[0032] 9000-robotic arm;

[0033] 9100 - Butterfly valve operating tool; 9110 - Fixed base plate; 9120 - Fixed arm; 9130 - Moving arm; 9121 - Retracting hook structure; 9122 - Abutting part; 9131 - Clamping part; 9111 - Linear guide rail; 9112 - Slider; 9113 - Telescopic drive device; 9114 - Frame structure.

[0034] 9200 - Material Gun Module Connector;

[0035] 9300 - Front-end tool connection module; 9310 - Fixed plate; 9320 - Connecting rod; 9330 - Spring; 9340 - Support plate; 9341 - Annular boss; 9342 - Mounting groove; 9343 - Conical hole; 9350 - Elastic base plate; 9360 - Conical cylinder; 9370 - Elastic disc; 9380 - Guide groove structure; 9381 - Guide groove; 9382 - Guide block; 9383 - Guide block.

[0036] 9400 - Robotic arm body;

[0037] 9500 - 3D camera; 9600 - Imaging device. Detailed Implementation

[0038] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0039] like Figure 1 As shown, the present invention provides a robotic arm 9000, including a robotic arm body 9400, a material gun module connector 9200, a butterfly valve operating tool 9100, and a front-end tool connection module 9300. The material gun module connector 9200 and the butterfly valve operating tool 9100 are respectively connected to the front-end tool connection module 9300, which is connected to the front end of the robotic arm body 9400. The front-end tool connection module is an elastic connection structure, coaxially arranged with the front end of the robotic arm body. The material gun module connector is coaxially arranged with the front-end tool connection module. The butterfly valve operating tool is located to the side of the material gun module connector. When the front end of the robotic arm body is in a vertical state, the height of the front end of the butterfly valve operating tool is lower than the height of the material gun module connector, thereby facilitating the butterfly valve operating tool 9100 to operate the valve stem of the butterfly valve to open or close the butterfly valve, so that the material gun module connector 9200 can move the material gun to a designated position for filling operations.

[0040] The front-end tool connection module 9300 adopts an elastic structure design, which can buffer the collision stress of the butterfly valve operating tool and the material gun module connector 9200 during the movement, and protect the robotic arm, the front-end operating tool and the operated parts.

[0041] The robotic arm provided by this invention also includes a 3D camera 9500 and an imaging device 9600, which are respectively fixedly connected to the fixed plate 9310 of the front-end tool connection module 9300. The 3D camera 9500 is used to identify butterfly valves, and the imaging device 9600 is used to image the pressure gauge on the tank and identify the pressure in the image. Both the 3D camera 9500 and the imaging device 9600 are fixedly connected to the fixed plate 9310, thus remaining stationary and not swaying due to the elasticity of the front-end tool connection module 9300.

[0042] The feed gun module connector is a male connector, and a female connector is also provided on the feed gun to connect the two and move the feed gun.

[0043] The robotic arm body is a 4-7 degree of freedom robotic arm.

[0044] like Figure 2-3 As shown, the present invention provides a butterfly valve operating tool 9100, including a fixed base plate 9110, a fixed arm 9120, and a movable arm 9130. The fixed arm 9120 is fixedly connected to the fixed base plate 9110, and in use, the fixed base plate 9110 is fixedly connected to the tool end of the robotic arm. The movable arm 9130 is movably connected to the fixed base plate 9110 and is capable of relative movement with respect to the fixed arm 9120. The fixed arm 9120 extends obliquely downward from the fixed base plate 9110, and a hook structure 9121 is provided at the end of the fixed arm 9120. A vertical hook structure is provided on the inner side of the fixed arm 9120. The abutment portion 9122, and the top of the hook structure 9121 is lower than the top of the abutment portion 9122; the movable arm 9130 is located to the side of the fixed arm 9120, extends downwards at an angle together with the fixed arm 9120, and is provided with a vertically downward clamping portion 9131 at its end. The lower end of the clamping portion 9131 is lower than the top of the hook structure 9121 but not lower than the bottom of the hook structure 9121, and the upper end of the clamping portion 9131 is at the same height as the abutment portion 9122, so that when the clamping portion 9131 retracts, the distance between it and the abutment portion 9122 becomes smaller, thereby enabling the valve stem to be clamped and unlocked, so as to further lift the valve stem for opening operation.

[0045] The butterfly valve operating tool provided by this invention is mounted on a robotic arm and can operate the valve stem of the butterfly valve to open and close under the drive of the robotic arm. In particular, when the moving arm extends to open, the hook structure can pass through the bottom of the valve stem, and then the telescopic drive device retracts to drive the moving arm to retract, thereby clamping the valve stem. With the restraining effect of the hook structure, the valve stem can be lifted, thereby opening the butterfly valve. Similarly, the butterfly valve can also be closed. This invention solves the problem of operating and clamping the butterfly valve stem and opening the butterfly valve in the confined space of a tank.

[0046] Both the fixed arm 9120 and the movable arm 9130 extend downwards at an angle to avoid the tool directly connected to the tool end of the robotic arm. The angled downward extension also facilitates operation of the butterfly valve stem and makes it easier to cut into the gap between the butterfly valve stem and the upper surface of the tank.

[0047] The abutment portion 9122 is formed by an abutment block connected to the fixed arm 9120. At this time, the abutment portion is a separate structural component independent of the fixed arm 9120. It is fixed to the fixed arm by screw connection. Therefore, the abutment portion can be designed separately and can be replaced to adapt to different working scenarios.

[0048] The abutment part 9122 is integrally formed on the fixed arm 9120. The integrally formed abutment part can reduce the structural size of the fixed arm and make it easier to operate.

[0049] The abutment part 9122 includes a rubber surface, which ensures that the clamped valve stem will not easily rotate or disengage.

[0050] The downward tilt angle of the movable arm 9130 is smaller than that of the fixed arm 9120, thus forming a sharp angle structure between the movable arm and the fixed arm, and maximizing the distance between the ends of the movable arm and the fixed arm, thereby preventing the valve stem being held from moving upward along the gap between the fixed arm and the movable arm.

[0051] The vertical length of the hook structure 9121 does not exceed half of the abutment portion 9122, thereby making it easier for the hook structure 9121 to cut between the valve stem and the upper surface of the tank.

[0052] The tilt angle of the fixed arm 9120 and the movable arm 9130 is between 30 and 60 degrees, and in extreme cases, it can be between 15 and 75 degrees.

[0053] The fixed base plate 9110 is provided with a horizontally extending linear guide rail 9111 and a slider 9112. The slider is connected to the moving arm 9130 and is driven to move by a telescopic drive device 9113 on the fixed base plate 9110.

[0054] The telescopic drive device is a telescopic cylinder.

[0055] The system also includes a frame structure 9114, which is sleeved on the outside of the fixed base plate 9110. The moving arm 9130 and the slider are fixedly connected to the frame structure. The telescopic drive device is connected to the lower part of the fixed base plate 9110 to drive the frame structure, thereby causing the slider to move through the frame structure. The design of the frame structure 9114 allows the driving position of the telescopic drive device to be different from the connection position of the slider, thus making the overall structural layout of the butterfly valve operating tool more reasonable and reducing space occupation.

[0056] The frame structure 9114 is a square-shaped structure formed by splicing together four flat plates.

[0057] like Figure 4-8As shown, the present invention provides a front-end tool connection module for a robotic arm, including a fixed plate 9310, four connecting rods 9320, four springs 9330, a support plate 9340, an elastic base plate 9350, a cone 9360, and an elastic disc 9370. The fixed plate is connected to the front end of the robotic arm body. The fixed plate 9310 is fixedly connected to the support plate 9340 around its perimeter via the four connecting rods 9320, thereby creating a receiving space between the fixed plate 9310 and the support plate 9340 to accommodate the elastic base plate 9350 and allow the elastic base plate 9370 to move freely. 350 moves between the fixed disk and the support plate; the support plate 9340 has a conical hole 9343 at its center, and the conical cylinder 9360 is adaptedly connected to the conical hole 9343. The conical cylinder 9360 is shaped with a larger top and a smaller bottom. The upper end of the conical cylinder 9360 is fixedly connected to the elastic base plate 9350, and the lower end is fixedly connected to the elastic disk 9370. The elastic base plate 9350 and the elastic disk 9370 are fixedly connected by the conical cylinder 9360, thus forming an integral structure. When the elastic disk 9370 is subjected to stress, it can be transmitted to the support plate through the conical cylinder 9360. On the elastic base plate 9350, a spring on the elastic base plate 9350 provides buffering and limiting, and when the external force disappears or decreases, it causes the cone 9360 to fall back into the cone hole. The elastic plate is connected to the material gun module connector and the butterfly valve operating tool. The elastic base plate 9350 is located between the fixed plate 9310 and the support plate 9340, and the spring 9330 is arranged between the fixed plate 9310 and the elastic base plate 9350. The connecting rod 9320 and the spring 9330 surround the elastic base plate 9350 in an alternating pattern. The elastic base plate 9350 is provided with an inner groove opening corresponding to the installation position of each connecting rod 9320, allowing the connecting rod 9320 to pass through. The connecting rod 9320 avoids the inner groove opening and maintains a certain distance from the edge of the inner groove opening, so that the elastic base plate 9350 will not collide with the connecting rod 9320 when moving towards the fixed plate 9310, and the connecting rod 9320 will not restrict the movement of the elastic base plate 9350. The conical cylinder 9360 and the conical hole 9343 are connected by a guide groove structure 9380 that can guide and prevent torsion.

[0058] The radius of the mounting position of the connecting rod 9320 relative to the axis of the cone 9360 does not exceed the radius of the mounting position of the spring 9330 relative to the axis of the cone 9360. This results in a smaller radial dimension of the entire connecting module, occupying less space and facilitating the movement of the robotic arm.

[0059] The guide groove structure 9380 includes a guide groove 9381 and a guide block 9382. One of the guide groove 9381 and the guide block 9382 is disposed on the side wall of the cone cylinder 9360, and the other is disposed on the inner wall of the tapered hole 9343 of the support plate 9340. The guide groove structure 9380 can guide the movement of the cone cylinder 9360 and prevent the cone cylinder 9360 from rotating axially.

[0060] Two guide groove structures 9380 are symmetrically arranged on both sides of the cone 9360, and their installation orientation is the same as that of a pair of connecting rods 9320. The number of guide groove structures 9380 should not be excessive, otherwise it will result in greater frictional resistance and limit the swing of the cone 9360. Compared with the commonly used three-point positioning structure (i.e., using three guide groove structures), using two symmetrically arranged guide groove structures 9380 provides the optimal solution.

[0061] The guide block 9382 is disposed on the side wall of the cone cylinder 9360, and the guide groove is disposed on the cone hole 9343; correspondingly, the guide groove structure 9380 also includes two guide blocks 9383 disposed in the guide groove, the distance between the two guide blocks 9383 is slightly larger than the width of the guide block 9382, so that the guide block 9382 can be connected between the two guide blocks 9383 by clearance fit.

[0062] The guide block 9383 cooperates with the guide block 9382 through a trapezoidal platform. The trapezoidal platform structure can minimize the contact area and provide stable support.

[0063] The support plate 9340 is provided with an annular boss 9341 surrounding the cone 9360. The annular boss 9341 can not only increase the area of ​​the cone hole, but also greatly improve the strength of the support plate 9340.

[0064] When the guide groove 9381 is provided on the tapered hole 9343, the guide groove 9381 separates the annular boss 9341, and a recessed mounting groove 9342 is provided on the support plate 9340 at the position corresponding to the guide block 9383, and a positioning groove is formed at the connection position between the mounting groove and the guide groove.

[0065] A spring 9330 groove is provided on the elastic substrate 9350 at the position where it is connected to the spring 9330, so as to accommodate the end of the spring 9330.

[0066] The front-end tool connection module of the robotic arm provided by this invention reduces the overall structural size by rationally designing the spring and connecting rod, especially by having the connecting rod avoid the elastic base plate. When placed at the front end of the robotic arm, it can act as a buffer when the robotic arm drives the tool at the tool end to work. Furthermore, through the cooperation structure between the trapezoidal platform of the guide block and the guide block, the cone cylinder can be prevented from rotating along the cone hole, while minimizing the restriction on the swing of the cone cylinder and improving the elastic fit margin.

[0067] like Figure 9-13 As shown, the butterfly valve opening method on a container tank provided by the present invention includes:

[0068] Step 1: Identify the butterfly valve (including identifying the valve's position, height, angle of inclination relative to the center of the container tank, distance between the valve stem and the surface of the container tank, and distance between the valve stem end and the overflow box, etc.) and determine the valve's status (thus determining whether the butterfly valve 12 is open or closed; if it is already open, there is no need to open it again; typically, both the fixed rod 121 and the moving rod 122 of the butterfly valve should be horizontal to confirm that it is closed). This identification step is performed by the 3D camera 9500 of the robotic arm 9000.

[0069] Step 2: Based on the data obtained from identifying the butterfly valve in Step 1, operate the fixed arm 9120 and the movable arm 9130 of the butterfly valve operating tool 9100 to clamp the fixed rod 121 and the movable rod 122 of the butterfly valve respectively. Specifically, this includes controlling the fixed arm of the butterfly valve operating tool 9100, controlling the movable arm 9130 to open, and ensuring that the distance between the movable arm 9130 and the fixed arm 9120 is greater than the distance between the fixed rod 121 and the movable rod 122; then controlling the hook structure 9121 of the fixed arm 9120 to move from below the end of the fixed rod 121 from both sides of the valve stem towards the middle, so that the abutment part 9122 abuts against the fixed rod 121; at the same time, controlling the movable arm 9130 to move downward to the outside of the movable rod 122.

[0070] Step 3: Control the moving arm 9130 to move towards the fixed arm 9120, thereby driving the moving rod 122 to move towards the fixed rod 121, and finally engaging with the fixed rod 121 to unlock;

[0071] Step 4: Operate the butterfly valve by using the operating tool 9100 to rotate the fixed rod 121 and the moving rod 122 upwards around the rotation axis of the butterfly valve 12 to open the butterfly valve.

[0072] Step 5: When the fixed rod 121 of the butterfly valve 12 is rotated to the vertical position, operate the butterfly valve operating tool 9100 to release the fixed rod 121 and the moving rod 122 of the butterfly valve.

[0073] Before step two, the process also includes moving the butterfly valve operating tool 9100 to a position above the butterfly valve 12 by the robotic arm 9000 (the position and height data of the butterfly valve have been completed in step one); and controlling the tilt angle between the fixed arm 9120 and the moving arm 9130 of the butterfly valve operating tool to be the same as the tilt angle between the fixed arm 121 and the moving arm 122, based on the tilt angle between the fixed arm 121 and the moving arm 122 obtained in step one.

[0074] In step three, keep the robotic arm stationary.

[0075] Step four is completed by a robotic arm.

[0076] The butterfly valve opening method on the container tank provided by the present invention realizes the opening operation of the butterfly valve by controlling the butterfly valve operating tool with a robotic arm, freeing up manual labor, realizing automation, and solving the problem of operating the butterfly valve in the confined space of the overflow box.

[0077] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0078] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A method for opening a butterfly valve on a container tank, characterized in that, The operation is performed using a robotic arm (9000), which includes a robotic arm body (9400) and a butterfly valve operating tool (9100). The butterfly valve operating tool (9100) includes a fixed base plate (9110), a fixed arm (9120), and a movable arm (9130). The fixed arm (9120) is fixedly connected to the fixed base plate (9110), and the movable arm (9130) is movably connected to the fixed base plate (9110) and is capable of relative movement with respect to the fixed arm (9120). The butterfly valve (12) includes a valve stem, which includes a fixed rod (121) and a movable rod (122). The method for opening the butterfly valve on the container tank includes: Step 1: Identify the butterfly valve (12) and determine its status; Step 2: Based on the data obtained from identifying the butterfly valve (12) in Step 1, operate the fixed arm (9120) and the movable arm (9130) of the butterfly valve operating tool (9100) to clamp the fixed rod (121) and the movable rod (122) of the butterfly valve (12) respectively. Step 3: Control the moving arm (9130) to move towards the fixed arm (9120), thereby driving the moving rod (122) to move towards the fixed rod (121), and finally engage with the fixed rod (121) to unlock; Step 4: Operate the butterfly valve operating tool (9100) to drive the fixed rod (121) and the moving rod (122) to rotate upward around the rotation axis of the butterfly valve (12) to open the butterfly valve (12). Step 5: When the fixed rod (121) of the butterfly valve (12) is rotated to the vertical position, operate the butterfly valve operating tool (9100) to release the fixed rod (121) and moving rod (122) of the butterfly valve (12).

2. The method according to claim 1, characterized in that, Step one includes identifying the position of the butterfly valve (12), the height of the butterfly valve (12), the angle of inclination of the butterfly valve (12) relative to the center of the container tank (1), the distance between the valve stem and the surface of the container tank (1), and the distance between the end of the valve stem and the overflow box.

3. The method according to claim 1, characterized in that, The robotic arm (9000) also includes a 3D camera (9500); Correspondingly, the recognition operation in step one is completed by the 3D camera (9500) of the robotic arm (9000).

4. The method according to claim 1, characterized in that, The fixing arm (9120) extends obliquely downward from the fixing base plate (9110), and a hook structure (9121) is provided at the end of the fixing arm (9120). A vertical abutment portion (9122) is provided on the fixing arm (9120) inside the hook structure (9121), and the top of the hook structure (9121) is lower than the top of the abutment portion (9122). Correspondingly, step two includes controlling the fixed arm of the butterfly valve operating tool (9100), controlling the movable arm (9130) to open, and the distance between the movable arm (9130) and the fixed arm (9120) is greater than the distance between the fixed rod (121) and the movable rod (122); then controlling the hook structure (9121) of the fixed arm (9120) to move from the bottom of the fixed rod (121) from both sides of the valve stem toward the middle, so that the abutting part (9122) abuts against the fixed rod (121); at the same time controlling the movable arm (9130) to move downward to the outside of the movable rod (122).

5. The method according to claim 2, characterized in that, Before step two, the process also includes moving the butterfly valve operating tool (9100) driven by the robotic arm (9000) to a position above the butterfly valve (12); and controlling the angle between the fixed arm (9120) and the moving arm (9130) of the butterfly valve operating tool to be the same as the angle between the fixed rod (121) and the moving rod (122) obtained in step one.

6. The method according to claim 1, characterized in that, In step three, keep the robotic arm body (9400) stationary.

7. The method according to claim 4, characterized in that, The movable arm (9130) is located to the side of the fixed arm (9120) and extends downwards at an angle together with the fixed arm (9120). At its end, it is provided with a vertically downward clamping part (9131). The lower end of the clamping part (9131) is lower than the top of the hook structure (9121) but not lower than the bottom of the hook structure (9121), and the upper end of the clamping part (9131) is at the same height as the abutting part (9122).

8. The method according to claim 7, characterized in that, The abutting portion (9122) is formed by an abutting block connected to the fixed arm (9120); or, the abutting portion (9122) is integrally formed on the fixed arm (9120); The contact portion (9122) includes a rubber surface.

9. The method according to claim 8, characterized in that, The downward tilt angle of the movable arm (9130) is smaller than that of the fixed arm (9120), thereby forming a sharp angle structure between the movable arm (9130) and the fixed arm (9120), and the distance between the ends of the movable arm (9130) and the fixed arm (9120) is the largest. The vertical length of the hook structure (9121) does not exceed half of the abutment portion (9122); The tilt angles of the fixed arm (9120) and the movable arm (9130) are between 30 and 60 degrees; The fixed base plate (9110) is provided with a horizontally extending linear guide rail (9111) and a slider (9112). The slider (9112) is connected to the moving arm (9130) and is driven to move by a telescopic drive device (9113) on the fixed base plate (9110). The telescopic drive device (9113) is a telescopic cylinder. The butterfly valve operating tool (9100) also includes a frame structure (9114), which is sleeved on the outside of the fixed base plate (9110), and the moving arm (9130) and the slider (9112) are fixedly connected to the frame structure (9114); the telescopic drive device (9113) is connected to the lower part of the fixed base plate (9110) to drive the frame structure (9114), thereby driving the slider (9112) to move through the frame structure (9114); the frame structure (9114) is a U-shaped structure formed by splicing four flat plates.

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