A pump head valve seat assembly device and assembly method

Abstract

The present application relates to emulsion pump assembly technical field, especially a kind of pump head valve seat assembly device and assembly method, assembly device includes action driving mechanism, image recognizer, sleeve assembly and installation assembly, sleeve assembly is set in action driving mechanism end, and is moved and rotated by action driving mechanism, image recognizer moves synchronously with sleeve assembly, and the relative position of sleeve assembly and valve seat and installation assembly is identified, installation assembly includes conveying belt and pump head, pump head is set on conveying belt, and moves along with conveying belt, and installation hole for installing valve seat is set on pump head;Suction cup assembly for adsorbing valve seat is set in sleeve assembly, and suction cup assembly slides in sleeve assembly along axial direction.The present application can complete the action and function such as valve seat's push, drawing, cooling etc. by the sleeve assembly of multifunctional integration, the action and pose of sleeve assembly are controlled in conjunction with action driving mechanism, and the assembly needs such as valve seat's automatic installation, disassembly, replacement etc. can be completed.

Description

Technical Field

[0001] This invention relates to the field of emulsion pump assembly technology, and in particular to a pump head valve seat assembly device and assembly method. Background Technology

[0002] With the continuous development of fully mechanized mining technology, hydraulic supports, as one of the most important pieces of equipment in underground mining, have been widely used in recent years. Therefore, emulsion pumps, as the power source for hydraulic supports, have become particularly important. The pump head of an emulsion pump consists of five identical suction and discharge valves. During the assembly of the pump head, installing the valve core is a complex and inefficient process. Because the valve seat and valve body have a tight interference fit, cold mounting is usually required during valve seat installation. This involves freezing the valve seat with ultra-low temperature liquid nitrogen, and then workers use copper rods to forcefully hammer the frozen valve seat into the appropriate position. This process is complex and tedious. Directly immersing the valve seat in liquid nitrogen may cause excessive internal stress and alter its local structure. The forceful hammering may also affect its performance, and workers are at risk of frostbite during the handling process. Furthermore, when the valve seat is damaged and needs replacement, it is usually pulled out using a puller, a rough disassembly method with low efficiency and a high risk of worker injury. Summary of the Invention

[0003] The present invention aims to solve the above problems and provides a pump head valve seat assembly device and assembly method, the technical solution of which is as follows: A pump head valve seat assembly device includes an action drive mechanism, an image recognizer, a sleeve assembly, and a mounting assembly. The sleeve assembly is located at the end of the action drive mechanism and is driven by the action drive mechanism to move and rotate. The image recognizer moves synchronously with the sleeve assembly and identifies the relative position of the sleeve assembly with the valve seat and the mounting assembly. The mounting assembly includes a conveyor belt and a pump head. The pump head is located on the conveyor belt and moves with the conveyor belt. The pump head is provided with a mounting hole for mounting the valve seat. A suction cup assembly for adsorbing the valve seat is provided inside the sleeve assembly. The suction cup assembly slides axially within the sleeve assembly.

[0004] Based on the above scheme, the sleeve assembly includes an outer sleeve and an inner sleeve that are coaxially and relatively fixedly arranged. The inner diameter of the inner sleeve is not less than the outer diameter of the valve seat. A second central chamber is provided between the outer sleeve and the inner sleeve. A liquid nitrogen vent hole is provided on the inner sleeve, which connects the second central chamber with the cavity inside the inner sleeve. The suction cup assembly includes a first suction cup surface and a second suction cup surface that are spaced apart and parallel along the axial direction of the inner sleeve. A suction cup partition plate is fixedly connected between the first and second suction cup surfaces along the axial direction. The outer diameters of the first and second suction cup surfaces are the same as the inner diameter of the inner sleeve. The first suction cup surface is located on the side near the opening end of the inner sleeve, and an electromagnet is provided on the first suction cup surface. The suction cup outer sleeve is fixedly connected to the side of the second suction cup surface away from the first suction cup surface. The suction cup outer sleeve and the inner sleeve... A gap is set between the cylinders, and a suction cup partition is fixedly installed radially inside the outer sleeve of the suction cup. The side of the suction cup partition away from the opening end of the inner sleeve forms a second annular cavity. A sleeve vent is provided on the outer sleeve of the suction cup, and the sleeve vent connects the second annular cavity with the internal cavity of the inner sleeve. The side of the suction cup partition near the opening end of the inner sleeve, together with the outer sleeve of the suction cup and the second suction cup surface, forms a first annular cavity. The first suction cup surface, the second suction cup surface, and the suction cup longitudinal partition form a disc-shaped suction cup cavity. A first vent and a second arc-shaped groove communicating with the disc-shaped suction cup cavity are respectively provided on the first and second suction cup surfaces. A first branch gas pipe and a second branch gas pipe for gas flow are respectively provided in the first and second annular cavities. A liquid nitrogen supply pipe for introducing liquid nitrogen is provided in the middle second chamber.

[0005] Based on the above solution, a sliding component is also included. The sliding component is radially disposed inside the suction cup assembly and slides axially relative to the suction cup assembly and the inner sleeve. The first and second suction cup surfaces are annular plates, and the inner side of the annular plates is provided with an inner wall surface to enclose and form a disc-shaped suction cup cavity. The inner sleeve of the suction cup is fixedly connected to the inner side of the outer sleeve of the suction cup. The inner sleeve of the suction cup is the inner wall surface of the first and second annular cavities, and a sliding sleeve cavity is formed inside the inner sleeve of the suction cup. The sliding component... The device includes a sliding block, the outer diameter of which is consistent with the inner diameter of the inner wall of the disc-shaped suction cup cavity. A sliding disc-shaped cavity is formed inside the sliding block. An airbag is connected to the side of the sliding block facing the opening end of the inner sleeve. A sliding arc-shaped groove is provided on the side of the sliding block facing the sliding sleeve cavity. The sliding arc-shaped groove communicates with the sliding sleeve cavity and the sliding disc-shaped cavity. A first branch pipe and a third branch pipe for gas flow are respectively provided in the airbag and the sliding sleeve cavity. A second branch pipe for gas or liquid nitrogen flow is provided in the sliding disc-shaped cavity.

[0006] Based on the above scheme, it also includes a gas supply assembly, a liquid nitrogen supply assembly, and a mixing pipeline assembly; the gas supply assembly includes a gas pump, a main gas supply pipeline, and a gas supply pipe connected in sequence, the gas supply pipe being connected to a first branch gas pipe and a second branch gas pipe, a gas pump control valve for controlling the on / off state of the gas pump and the direction of gas flow is installed at the gas pump, and a main gas supply valve, a first gas pipe valve, and a second gas pipe valve for controlling the on / off state of the pipeline are respectively installed on the main gas supply pipeline, the first branch gas pipe, and the second branch gas pipe; the liquid nitrogen supply assembly includes a liquid nitrogen cylinder, a liquid nitrogen main pipeline, and a mixing pipeline assembly connected in sequence. A liquid nitrogen pipe is provided, which is connected to a liquid nitrogen supply pipe. A main liquid nitrogen pipe valve and a liquid nitrogen supply valve are respectively provided on the main liquid nitrogen pipe and the liquid nitrogen supply pipe to control the on / off state of the pipes. The mixing pipe assembly includes a mixing supply pipe. One end of the mixing supply pipe is connected to both the gas supply pipe and the first liquid nitrogen pipe through a three-way valve, and the other end is connected to a first branch pipe, a second branch pipe and a third branch pipe. A first control valve, a second control valve and a third control valve are respectively provided on the first branch pipe, the second branch pipe and the third branch pipe to control the on / off state of the pipes.

[0007] Preferably, the inner sleeve protrudes radially inward to form a sleeve limiting surface, which is located on the side of the suction cup assembly away from the opening end of the inner sleeve. The outer end of the second suction cup surface extends axially near the sleeve limiting surface to form a suction cup limiting plate, and the outer diameter of the suction cup limiting plate is larger than the inner diameter of the sleeve limiting surface.

[0008] Preferably, a pressure sensor is installed inside the inner sleeve, a suction cup temperature sensor is installed on the side of the first suction cup facing the opening end of the inner sleeve, and a camera and an infrared thermometer are installed on the side of the sliding block facing the opening end of the inner sleeve.

[0009] Preferably, a first arc-shaped groove is provided on the surface of the first suction cup, the first arc-shaped groove is a through groove, and is provided on the outer side of the longitudinal partition of the suction cup along the radial direction; the liquid nitrogen supply assembly further includes a nitrogen recovery pipe, the nitrogen recovery pipe is connected to the first arc-shaped groove and the first liquid nitrogen pipe, and a nitrogen recovery valve for controlling the opening and closing of the pipeline is provided on the nitrogen recovery pipe.

[0010] Preferably, the motion drive mechanism includes a rotating chassis, a first motor, a first telescopic arm, a second motor, a second telescopic arm, a third motor, and a sleeve mounting base arranged sequentially. The rotating chassis rotates in a horizontal plane. The first motor is mounted on the rotating chassis and drives the first connecting frame to rotate. The first telescopic arm is fixedly mounted on the first connecting frame, and the moving end of the first telescopic arm is fixedly connected to the second connecting frame. The second motor is fixedly mounted on the second connecting frame, and the moving end of the second motor is connected to the fixed end of the second telescopic arm. The third motor is mounted on the moving end of the second telescopic arm, and the sleeve mounting base is fixedly connected to the moving end of the third motor. The sleeve assembly and the image recognition device are fixedly connected to the side of the sleeve mounting base facing the mounting assembly. A controller is also provided on the sleeve mounting base.

[0011] A pump head valve seat assembly method, using the above-mentioned pump head valve seat assembly device, includes the following steps in the installation process: A1. The image recognition device captures the relative position of the sleeve assembly and the valve seat to be installed in real time and feeds it back to the controller. The controller controls the action drive mechanism to move so that the open end of the sleeve assembly faces downward and is coaxial with the valve seat, and the end face of the open end of the sleeve assembly abuts against the upper surface of the valve seat. A2. The gas in the air pump enters the second annular cavity through the second branch air pipe, and then enters the inner cavity of the inner sleeve through the sleeve vent hole, causing the suction cup assembly to move towards the opening end of the inner sleeve until the first suction cup surface abuts against the valve seat. A3. The second branch tube continues to introduce gas into the second annular cavity until the pressure sensor detects that the pressure value has reached the predetermined inflation pressure value; A4. The first branch air tube draws air inward and attracts the valve seat to the surface of the first suction cup; at this time, the electromagnet acts and holds the valve seat in place. A5. The motion drive mechanism drives the sleeve assembly and valve seat to rotate until the valve seat is directly above the sleeve assembly; A6. The second branch air pipe draws air inward, reducing the pressure in the cavity inside the inner sleeve, and drives the suction cup assembly and valve seat to move into the inner sleeve until the suction cup limiting plate abuts against the sleeve limiting surface; continue drawing air until the air pressure sensor detects that the air pressure value has reached the predetermined air drawing pressure value. A7. Liquid nitrogen is introduced into the second chamber in the middle through the liquid nitrogen supply pipe. The liquid nitrogen is sprayed into the inner cavity of the inner sleeve through the liquid nitrogen vent hole to cool the valve seat until the temperature value detected by the infrared thermometer reaches the predetermined cooling temperature value. A8. The action drive mechanism drives the sleeve assembly and valve seat to rotate until the axis of the sleeve assembly is horizontal and aligned with the mounting hole of the pump head; A9. The gas in the air pump enters the second annular cavity through the second branch air pipe, and then enters the inner cavity of the inner sleeve through the sleeve vent hole, causing the suction cup assembly to drive the valve seat to move into the mounting hole; A10. The second branch tube continues to supply gas into the second annular cavity until the pressure sensor detects that the pressure value has reached the predetermined installation pressure value, at which point the gas supply stops and the electromagnet is de-energized. A11. The second branch air pipe draws air inward, reducing the pressure in the cavity inside the inner sleeve, and drives the suction cup assembly to move away from the opening end of the inner sleeve, separating it from the valve seat, completing the installation of the valve seat, and the action drive mechanism drives the sleeve assembly to exit from the mounting hole. A12. The conveyor belt moves to position the other mounting holes of the pump head in the installation position. Repeat steps A1-A12 until all valve seats are installed.

[0012] Based on the above solution, the valve seat disassembly process includes the following steps: B1. The image recognition device captures the relative position of the sleeve assembly and the mounting hole in real time and feeds it back to the controller. The controller controls the action drive mechanism to move, so that the sleeve assembly extends into the mounting hole and abuts against the limit step in the mounting hole. At this time, the end face of the sleeve assembly is flush with the valve seat to be disassembled. B2. The gas in the air pump enters the second annular cavity through the second branch air pipe, and then enters the inner cavity of the inner sleeve through the sleeve vent hole, causing the suction cup assembly to move towards the valve seat until the first suction cup surface abuts against the valve seat; B3. The second branch tube continues to introduce gas into the second annular cavity until the pressure sensor detects that the pressure value has reached the predetermined inflation pressure value, and the electromagnet acts and attracts the valve seat. B4. Gas is introduced into the sliding disc cavity through the second branch pipe. The gas enters the sliding sleeve cavity through the sliding arc groove, causing the sliding assembly to move towards the valve seat until the outer wall surface of the sliding block facing the sliding sleeve cavity is flush with the end face of the valve seat away from the sleeve assembly. B5. Liquid nitrogen is introduced into the sliding disc cavity through the liquid nitrogen main pipeline, the first liquid nitrogen pipeline, the mixing supply pipeline and the second branch pipeline. The liquid nitrogen contacts the valve seat through the sliding arc groove and is cooled by the valve seat until the temperature value detected by the suction cup temperature sensor reaches the predetermined cooling temperature value. B6. The first branch pipe introduces gas into the airbag, causing the airbag to expand outward and compress the valve seat end face; B7. The first branch air pipe draws air inward and attaches the valve seat to the surface of the first suction cup. B8. The second branch air pipe draws air inward, reducing the pressure in the cavity inside the inner sleeve, and drives the suction cup assembly and valve seat to move into the inner sleeve until the suction cup limiting plate abuts against the sleeve limiting surface; continue drawing air until the air pressure sensor detects that the air pressure value has reached the predetermined air drawing pressure value. B9. The motion drive mechanism pulls the sleeve assembly out of the mounting hole; B10. The first branch pipe draws gas out of the airbag, causing the airbag to shrink and separate from the valve seat end face; B11. The third branch pipe draws air inward to reduce the pressure in the sliding sleeve cavity, causing the sliding block and airbag to move into the sliding sleeve cavity; B12. The action drive mechanism drives the sleeve assembly to rotate until the inner sleeve opening end faces downward. The gas enters the second annular cavity through the second branch air pipe, and then enters the inner cavity of the inner sleeve through the sleeve vent hole. This causes the suction cup assembly to move the valve seat towards the inner sleeve opening end. The electromagnet is de-energized, completing the disassembly of the valve seat.

[0013] The beneficial effects of this invention are as follows: The multi-functional integrated sleeve assembly can perform actions and functions such as pushing, pulling, and cooling of the valve seat. Combined with the action drive mechanism to control the action and position of the sleeve assembly, it can complete the assembly needs such as automatic installation, disassembly, and replacement of the valve seat, replacing the previous manual operation method and achieving efficient and high-quality disassembly and assembly results. By using image recognition, temperature sensing, and other methods, parameters are fed back in real time during the operation to ensure accurate completion of the assembly process and avoid assembly failure or damage to components. Attached Figure Description

[0014] Figure 1 : Schematic diagram of the structure of the present invention; Figure 2 : Cross-sectional view of the internal structure of the sleeve assembly of the present invention; Figure 3 : A partial enlarged view of the sliding component of this invention; Figure 4 : A cross-sectional view of the valve seat in the installation state of the present invention; Figure 5 : A cross-sectional schematic diagram of the valve seat disassembly process of the present invention. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings and embodiments: In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0016] In the description of this invention, it should be understood that the terms "center," "length," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," and "inner," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0017] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0018] like Figures 1 to 5 As shown, a pump head valve seat assembly device includes an action drive mechanism, an image recognizer 22, a sleeve assembly 3, and an installation assembly. The sleeve assembly 3 is located at the end of the action drive mechanism and is driven by the action drive mechanism to move and rotate. The image recognizer 22 moves synchronously with the sleeve assembly 3 and identifies the relative position of the sleeve assembly 3 with the valve seat 71 and the installation assembly. The installation assembly includes a conveyor belt 72 and a pump head 73. The pump head 73 is located on the conveyor belt 72 and moves with the conveyor belt 72. The pump head 73 is provided with a mounting hole 731 for mounting the valve seat 71. A suction cup assembly for adsorbing the valve seat 71 is provided inside the sleeve assembly 3. The suction cup assembly slides axially inside the sleeve assembly 3.

[0019] like Figure 1As shown, the motion drive mechanism includes a rotating base 11, a first motor 12, a first telescopic arm 13, a second motor 14, a second telescopic arm 15, a third motor 16, and a sleeve mounting base 17 arranged sequentially. The rotating base 11 rotates in a horizontal plane. The first motor 12 is mounted on the rotating base 11 and drives the first connecting frame to rotate. The first telescopic arm 13 is fixedly mounted on the first connecting frame, and the moving end of the first telescopic arm 13 is fixedly connected to the second connecting frame. The second motor 14 is fixedly mounted on the second connecting frame, and the moving end of the second motor 14 is connected to the fixed end of the second telescopic arm 15. The third motor 16 is mounted on the moving end of the second telescopic arm 15, and the sleeve mounting base 17 is fixedly connected to the moving end of the third motor 16. The sleeve assembly 3 and the image recognition device 22 are fixedly connected to the side of the sleeve mounting base 17 facing the mounting assembly. By setting the rotation axis and movement direction of each motor and the moving end of the telescopic arm to different directions, the sleeve assembly 3 can complete position movement and angle rotation in three-dimensional space.

[0020] The sleeve mounting base 17 is also equipped with a controller 21, which is connected to the image recognition device 22. The controller 21 determines the relative position and posture of the sleeve assembly 3 with the valve seat 71, pump head 73, and mounting hole 731 through the image, and drives the motors and telescopic arm to adjust the position and angle of the sleeve assembly 3. At the same time, the controller 21 is also connected to the air pump 41 of the air supply assembly, liquid nitrogen supply assembly, and mixing pipeline assembly, as well as the control valves.

[0021] The sleeve assembly 3 includes an outer sleeve 311 and an inner sleeve 321 that are coaxially and fixedly arranged. The inner diameter of the inner sleeve 321 is not less than the outer diameter of the valve seat 71, thereby accommodating the valve seat 71. A second central chamber 333 is provided between the outer sleeve 311 and the inner sleeve 321. Specifically, a fixed base plate 312 is fixedly arranged radially inside the outer sleeve 311. The fixed base plate 312 is connected to the side of the suction cup assembly away from the opening end of the inner sleeve 321. The fixed base plate 312, the side of the outer sleeve 311, and the bottom surface of the outer sleeve 311 enclose a base plate cavity 313. A central partition 331 is radially connected between the outer sleeve 311 and the inner sleeve 321. The central partition 331 divides the gap between the outer sleeve 311 and the inner sleeve 321 to form a first central chamber 332 and a second central chamber 333. The inner sleeve 321 is provided with a liquid nitrogen vent 323, which is a micropore used to diffuse liquid nitrogen into liquid droplets or aerosol. The liquid nitrogen vent 323 connects the middle second chamber 333 with the cavity inside the inner sleeve 321.

[0022] The suction cup assembly includes a first suction cup surface 341 and a second suction cup surface 342 arranged axially spaced and parallel to each other along the inner sleeve 321. A suction cup longitudinal partition plate 343 is fixedly connected axially between the first suction cup surface 341 and the second suction cup surface 342. The outer diameter of the first suction cup surface 341 and the second suction cup surface 342 is the same as the inner diameter of the inner sleeve 321. The first suction cup surface 341 is located near the opening end of the inner sleeve 321, and an electromagnet is provided on the first suction cup surface 341. A suction cup outer sleeve 346 is fixedly connected to the side of the second suction cup surface 342 away from the first suction cup surface 341. A gap is provided between the suction cup outer sleeve 346 and the inner sleeve 321. A suction cup middle partition plate 3491 is fixedly arranged radially along the inner sleeve 321 inside the suction cup outer sleeve 346. The side of the suction cup middle partition plate 3491 away from the opening end of the inner sleeve 321 forms a second annular cavity 3493, which is used for suction. A sleeve vent 3461 is provided on the outer sleeve 346 of the disc, which connects the second annular cavity 3493 with the internal cavity of the inner sleeve 321. The side of the suction cup partition 3491 near the opening end of the inner sleeve 321, together with the outer sleeve 346 and the second suction cup surface 342, forms a first annular cavity 3492. The first suction cup surface 341, the second suction cup surface 342, and the suction cup longitudinal partition 343 form a disc-shaped suction cup cavity 344. A first vent 3412 and a second arc-shaped groove 3421 communicating with the disc-shaped suction cup cavity 344 are respectively provided on the first suction cup surface 341 and the second suction cup surface 342. A first branch gas pipe 461 and a second branch gas pipe 471 for gas flow are respectively provided in the first annular cavity 3492 and the second annular cavity 3493. A liquid nitrogen supply pipe 551 for introducing liquid nitrogen is provided in the middle second chamber 333.

[0023] Furthermore, the inner sleeve 321 protrudes radially inward to form a sleeve limiting surface 322. The sleeve limiting surface 322 is located on the side of the suction cup assembly away from the opening end of the inner sleeve 321. The outer end of the second suction cup surface 342 extends axially near the sleeve limiting surface 322 to form a suction cup limiting plate 345. The outer diameter of the suction cup limiting plate 345 is larger than the inner diameter of the sleeve limiting surface 322, thereby achieving axial limiting of the suction cup assembly through the contact between the sleeve limiting surface 322 and the suction cup limiting plate 345.

[0024] It also includes a sliding assembly, which is radially disposed inside the suction cup assembly and slides axially relative to the suction cup assembly and the inner sleeve 321; the first suction cup surface 341 and the second suction cup surface 342 are annular plates, and the inner side of the annular plates is provided with an inner wall surface for enclosing and forming a disc-shaped suction cup cavity 344; the inner side of the suction cup outer sleeve 346 is fixedly connected to the inner side of the suction cup inner sleeve 347, which is the inner wall surface of the first annular cavity 3492 and the second annular cavity 3493, and a sliding sleeve cavity 354 is formed inside the suction cup inner sleeve 347; the sliding assembly includes a sliding block 351, which... The outer diameter is consistent with the inner diameter of the inner wall of the disc-shaped suction cup cavity 344. A sliding disc-shaped cavity 352 is formed inside the sliding block 351. The side of the sliding block 351 facing the opening end of the inner sleeve 321 is connected to the airbag 355. A sliding arc-shaped groove 353 is provided on the side of the sliding block 351 facing the sliding sleeve cavity 354. The sliding arc-shaped groove 353 communicates with the sliding sleeve cavity 354 and the sliding disc-shaped cavity 352. A first branch pipe 631 and a third branch pipe 651 for gas flow are respectively provided in the airbag 355 and the sliding sleeve cavity 354. A second branch pipe 641 for gas or liquid nitrogen flow is provided in the sliding disc-shaped cavity 352.

[0025] It also includes a gas supply assembly, a liquid nitrogen supply assembly, and a mixing pipeline assembly; the gas supply assembly includes a gas pump 41, a main gas supply pipeline 43, and a gas supply pipe 45 connected in sequence. The gas supply pipe 45 is connected to a first branch gas pipe 461 and a second branch gas pipe 471. A gas pump control valve 42 is provided at the gas pump 41 to control the on / off state of the gas pump 41 and the direction of gas flow. A main gas supply pipeline valve 44, a first gas pipe valve 462, and a second gas pipe valve 472 are respectively provided on the main gas supply pipeline 43, the first branch gas pipe 461, and the second branch gas pipe 471 to control the on / off state of the pipelines; the liquid nitrogen supply assembly includes a liquid nitrogen cylinder 51, a liquid nitrogen main pipeline 52, and a first liquid nitrogen pipe 54 connected in sequence. The nitrogen pipe 54 is connected to the liquid nitrogen supply pipe 551. The main liquid nitrogen pipe 52 and the liquid nitrogen supply pipe 551 are respectively equipped with a main liquid nitrogen pipe valve 53 and a liquid nitrogen supply valve 552 for controlling the opening and closing of the pipes. The mixing pipe assembly includes a mixing supply pipe 62. One end of the mixing supply pipe 62 is connected to both the gas supply pipe 45 and the first liquid nitrogen pipe 54 through a three-way valve 61. The other end is connected to the first branch pipe 631, the second branch pipe 641 and the third branch pipe 651. The first branch pipe 631, the second branch pipe 641 and the third branch pipe 651 are respectively equipped with a first control valve 632, a second control valve 642 and a third control valve 652 for controlling the opening and closing of the pipes.

[0026] A first arc-shaped groove 3411 is provided on the first suction cup surface 341. The first arc-shaped groove 3411 is a through groove and is located on the radial outer side of the suction cup partition 343. The liquid nitrogen supply assembly also includes a nitrogen recovery pipe 553, which is connected to the first arc-shaped groove 3411 and the first liquid nitrogen pipe 54. A nitrogen recovery valve 554 is provided on the nitrogen recovery pipe 553 to control the opening and closing of the pipeline, so that nitrogen can be recovered through the first arc-shaped groove 3411, the nitrogen recovery pipe 553, and the first liquid nitrogen pipe 54.

[0027] All of the above-mentioned pipes are flexible pipes with variable lengths, such as corrugated pipes, which allows the pipes to move, extend or shorten with the suction cup assembly, sliding assembly and other components.

[0028] An air pressure sensor 314 is installed inside the inner sleeve 321. A suction cup temperature sensor 3413 is installed on the side of the first suction cup surface 341 facing the opening end of the inner sleeve 321. A camera 356 and an infrared thermometer 357 are installed on the side of the sliding block 351 facing the opening end of the inner sleeve 321.

[0029] A pump head valve seat assembly method, using the above-mentioned pump head valve seat assembly device, includes the following steps in the installation process: A1. The image recognition device 22 captures the relative position of the sleeve assembly 3 and the valve seat 71 to be installed in real time and feeds it back to the controller 21. The controller 21 controls the action drive mechanism to move so that the open end of the sleeve assembly 3 faces downward and is coaxial with the valve seat 71, and the end face of the open end of the sleeve assembly 3 abuts against the upper surface of the valve seat 71. A2. The gas in the air pump 41 enters the second annular cavity 3493 through the main air supply pipe 43, the air supply pipe 45 and the second branch air pipe 471, and then enters the internal cavity of the inner sleeve 321 through the sleeve vent 3461, causing the suction cup assembly to move toward the opening end of the inner sleeve 321 until the first suction cup surface 341 abuts against the valve seat 71. A3. The second branch air pipe 471 continues to introduce gas into the second annular cavity 3493 until the air pressure sensor 314 detects that the air pressure value has reached the predetermined inflation pressure value, indicating that the suction cup assembly and the valve seat 71 are in a tight contact state. A4. The first branch air pipe 461 draws air inward and attracts the valve seat 71 to the surface of the first suction cup 341; at this time, the electromagnet acts and attracts the valve seat 71. A5. The motion drive mechanism drives the sleeve assembly 3 and valve seat 71 to rotate until the valve seat 71 is directly above the sleeve assembly 3; A6. The second branch air pipe 471 draws air inward, reducing the pressure in the cavity inside the inner sleeve 321, and drives the suction cup assembly and valve seat 71 to move into the inner sleeve 321 until the suction cup limiting plate 345 abuts against the sleeve limiting surface 322; continue to draw air until the air pressure sensor 314 detects that the air pressure value has reached the predetermined air drawing pressure value, indicating that the valve seat 71 has completely entered the inner sleeve 321 and moved into place; A7. Valve seat cooling: Liquid nitrogen is introduced into the second central chamber 333 through the liquid nitrogen main pipeline 52, the first liquid nitrogen pipe 54, and the liquid nitrogen supply pipe 551. The liquid nitrogen forms a liquid nitrogen spray through the liquid nitrogen vent 323 and enters the internal cavity of the inner sleeve 321 to cool the valve seat 71 until the infrared thermometer 357 detects that the temperature value has reached the predetermined cooling temperature value, indicating that the valve seat 71 has been cooled. The released nitrogen gas is recovered into the liquid nitrogen bottle 51 after passing through the first arc groove 3411, the nitrogen recovery pipe 553, and the first liquid nitrogen pipe 54. A8. The action drive mechanism drives the sleeve assembly 3 and valve seat 71 to rotate until the axis of the sleeve assembly 3 is horizontal and aligned with the mounting hole 731 of the pump head 73, in preparation for the installation of the valve seat 71. A9. The gas in the air pump 41 enters the second annular cavity 3493 through the second branch air pipe 471, and then enters the internal cavity of the inner sleeve 321 through the sleeve vent 3461, causing the suction cup assembly to drive the valve seat 71 to move into the mounting hole 731. A limiting step 732 is provided in the mounting hole 731 to axially limit the valve seat 71. A10. The second branch gas pipe 471 continues to supply gas into the second annular cavity 3493 until the gas pressure sensor 314 detects that the gas pressure value has reached the predetermined installation pressure value, indicating that the valve seat 71 and the limit step 732 are in contact, installed in place, and have been tightly installed. Then, the gas supply is stopped, and the electromagnet is de-energized. A11. The second branch air pipe 471 draws air inward, reducing the pressure in the cavity inside the inner sleeve 321, and drives the suction cup assembly to move away from the opening end of the inner sleeve 321, separating it from the valve seat 71, thus completing the installation of the valve seat 71; and the action drive mechanism drives the sleeve assembly 3 to exit from the mounting hole 731. A12. The conveyor belt 72 moves to position the other mounting holes 731 of the pump head 73 in the installation position. Repeat steps A1-A12 until all valve seats 71 are installed.

[0030] Furthermore, the valve seat 71 disassembly process includes the following steps: B1. The image recognition device 22 captures the relative position of the sleeve assembly 3 and the mounting hole 731 in real time and feeds it back to the controller 21. The controller 21 controls the action drive mechanism to move, so that the sleeve assembly 3 extends into the mounting hole 731 and abuts against the limiting step 732 in the mounting hole 731. At this time, the end face of the sleeve assembly 3 is flush with the valve seat 71 to be disassembled. B2. The gas in the air pump 41 enters the second annular cavity 3493 through the second branch air pipe 471, and then enters the internal cavity of the inner sleeve 321 through the sleeve vent 3461, causing the suction cup assembly to move toward the valve seat 71 until the first suction cup surface 341 abuts against the valve seat 71. B3. The second branch air tube 471 continues to supply gas into the second annular cavity 3493 until the air pressure sensor 314 detects that the air pressure value has reached the predetermined inflation pressure value, indicating that the suction cup assembly is in close contact with the valve seat 71, and the electromagnet acts to hold the valve seat 71. B4. With the three-way valve 61 and the second control valve 642 open, the air pump 41 introduces gas into the sliding disc cavity 352 through the main air supply line 43, the air supply pipe 45, the mixing supply line 62, and the second branch pipe 641. The gas enters the sliding sleeve cavity 354 through the sliding arc groove 353, causing the sliding assembly to move towards the valve seat 71 until the outer wall surface of the sliding block 351 facing the sliding sleeve cavity 354 is flush with the end face of the valve seat 71 away from the sleeve assembly 3. Figure 5 As shown; B5. Liquid nitrogen is introduced into the sliding disc cavity 352 through the liquid nitrogen main pipeline 52, the first liquid nitrogen pipeline 54, the mixing supply pipeline 62 and the second branch pipeline 641. The liquid nitrogen contacts the valve seat 71 through the sliding arc groove 353 and cools the valve seat 71 until the temperature value detected by the suction cup temperature sensor 3413 reaches the predetermined cooling temperature value, indicating that the valve seat 71 has been cooled as a whole. The first branch pipe 631 of B6 introduces gas into the airbag 355, causing the airbag 355 to expand outward and squeeze the end face of the valve seat 71; on the one hand, it provides an axial outward impact force to the valve seat 71 at the moment of expansion, and on the other hand, it provides a pushing force when the valve seat 71 is stretched outward in the axial direction. B7. The first branch air pipe 461 draws air inward and adsorbs the valve seat 71 onto the surface of the first suction cup 341, further providing the adsorption force when the valve seat 71 moves. B8. The second branch air pipe 471 draws air inward, reducing the pressure in the cavity inside the inner sleeve 321, and drives the suction cup assembly and valve seat 71 to move into the inner sleeve 321 until the suction cup limiting plate 345 abuts against the sleeve limiting surface 322; continue to draw air until the air pressure sensor 314 detects that the air pressure value has reached the predetermined air drawing pressure value, indicating that the valve seat 71 has completely entered the inner sleeve 321 and moved into place; B9. The motion drive mechanism drives the sleeve assembly 3 to be pulled out of the mounting hole 731; B10. The first branch pipe 631 draws gas out of the air bag 355, causing the air bag 355 to shrink and separate from the end face of the valve seat 71. B11. The third branch pipe 651 draws air inward to reduce the pressure in the sliding sleeve cavity 354, so that the sliding block 351 and the air bag 355 move into the sliding sleeve cavity 354. B12. The action drive mechanism drives the sleeve assembly 3 to rotate until the opening end of the inner sleeve 321 faces downward. The gas enters the second annular cavity 3493 through the second branch air pipe 471, and then enters the internal cavity of the inner sleeve 321 through the sleeve vent 3461. This causes the suction cup assembly to move the valve seat 71 towards the opening end of the inner sleeve 321. The electromagnet is de-energized, completing the disassembly of the valve seat 71.

[0031] The present invention has been described above by way of example, but the present invention is not limited to the specific embodiments described above. Any modifications or variations made based on the present invention shall fall within the scope of protection claimed by the present invention.

Claims

1. A pump head valve seat assembly device, characterized in that, The assembly includes a motion drive mechanism, an image recognition device (22), a sleeve assembly (3), and a mounting assembly. The sleeve assembly (3) is located at the end of the motion drive mechanism and is driven by the motion drive mechanism to move and rotate. The image recognition device (22) moves synchronously with the sleeve assembly (3) and identifies the relative positions of the sleeve assembly (3), the valve seat (71), and the mounting assembly. The mounting assembly includes a conveyor belt (72) and a pump head (73). The pump head (73) is located on the conveyor belt (72) and moves with the conveyor belt (72). The pump head (73) is provided with a mounting hole (731) for mounting the valve seat (71). A suction cup assembly for adsorbing the valve seat (71) is provided inside the sleeve assembly (3). The suction cup assembly is located within the sleeve assembly. (3) Sliding along the inner axial direction; The sleeve assembly (3) includes an outer sleeve (311) and an inner sleeve (321) that are coaxially and relatively fixedly arranged. The inner diameter of the inner sleeve (321) is not less than the outer diameter of the valve seat (71). A middle second chamber (333) is provided between the outer sleeve (311) and the inner sleeve (321). A liquid nitrogen vent hole (323) is provided on the inner sleeve (321). The liquid nitrogen vent hole (323) connects the middle second chamber (333) with the cavity inside the inner sleeve (321). The suction cup assembly includes a first suction cup surface (341) and a second suction cup surface (342) that are spaced apart and parallel along the inner sleeve (321). A suction cup is fixedly connected between the first suction cup surface (341) and the second suction cup surface (342) along the axial direction. The longitudinal partition (343) has the outer diameter of the first suction cup surface (341) and the second suction cup surface (342) being the same as the inner diameter of the inner sleeve (321). The first suction cup surface (341) is located near the opening end of the inner sleeve (321), and an electromagnet is provided on the first suction cup surface (341). The second suction cup surface (342) is fixedly connected to the suction cup outer sleeve (346) on the side away from the first suction cup surface (341). A gap is provided between the suction cup outer sleeve (346) and the inner sleeve (321). A suction cup middle partition (3491) is fixedly provided inside the suction cup outer sleeve (346) along the radial direction of the inner sleeve (321). The suction cup middle partition (3491) forms a second annular cavity (349) on the side away from the opening end of the inner sleeve (321). 3) A sleeve vent (3461) is provided on the outer sleeve of the suction cup (346). The sleeve vent (3461) connects the second annular cavity (3493) with the inner cavity of the inner sleeve (321). The middle partition (3491) of the suction cup is close to the opening end of the inner sleeve (321) and together with the outer sleeve of the suction cup (346) and the second suction cup surface (342) to form a first annular cavity (3492). The first suction cup surface (341), the second suction cup surface (342) and the longitudinal partition (343) of the suction cup form a disc-shaped suction cup cavity (344). The first suction cup surface (341) and the second suction cup surface (342) are respectively provided with a first vent (3412) and a second arc-shaped groove (3421) that communicate with the disc-shaped suction cup cavity (344).The first annular cavity (3492) and the second annular cavity (3493) are respectively provided with a first branch gas pipe (461) and a second branch gas pipe (471) for gas flow, and the middle second chamber (333) is provided with a liquid nitrogen supply pipe (551) for introducing liquid nitrogen. The pump head valve seat assembly also includes a sliding component, which is radially disposed inside the suction cup assembly and slides axially relative to the suction cup assembly and the inner sleeve (321); the first suction cup surface (341) and the second suction cup surface (342) are annular plates, and the inner side of the annular plates is provided with an inner wall surface for enclosing and forming a disc-shaped suction cup cavity (344); the inner side of the suction cup outer sleeve (346) is fixedly connected to the inner sleeve (347), which is the inner wall surface of the first annular cavity (3492) and the second annular cavity (3493); a sliding sleeve cavity (354) is formed inside the inner sleeve (347); the sliding component includes a sliding block (351), which is external to the sliding block (351). The inner diameter of the sliding block (351) is the same as the inner diameter of the inner wall of the disc-shaped suction cup cavity (344). A sliding disc-shaped cavity (352) is formed inside the sliding block (351). The side of the sliding block (351) facing the opening end of the inner sleeve (321) is connected to the air bag (355). A sliding arc groove (353) is provided on the side of the sliding block (351) facing the sliding sleeve cavity (354). The sliding arc groove (353) communicates with the sliding sleeve cavity (354) and the sliding disc-shaped cavity (352). A first branch pipe (631) and a third branch pipe (651) for gas flow are respectively provided in the air bag (355) and the sliding sleeve cavity (354). A second branch pipe (641) for gas or liquid nitrogen flow is provided in the sliding disc-shaped cavity (352). The pump head valve seat assembly also includes a gas supply assembly, a liquid nitrogen supply assembly, and a mixing pipeline assembly; the gas supply assembly includes a gas pump (41), a main gas supply pipeline (43), and a gas supply pipe (45) connected in sequence. The gas supply pipe (45) is connected to a first branch gas pipe (461) and a second branch gas pipe (471). A gas pump control valve (42) is provided at the gas pump (41) to control the on / off state of the gas pump (41) and the direction of gas flow. A main gas supply pipeline valve (44), a first gas pipe valve (462), and a second gas pipe valve (472) are respectively provided on the main gas supply pipeline (43), the first branch gas pipe (461), and the second branch gas pipe (471) to control the on / off state of the pipeline. The liquid nitrogen supply assembly includes a liquid nitrogen cylinder (51), a liquid nitrogen main pipeline (52), and a first liquid nitrogen pipe (54) connected in sequence. A liquid nitrogen pipe (54) is connected to a liquid nitrogen supply pipe (551). A liquid nitrogen main pipe (52) and a liquid nitrogen supply pipe (551) are respectively provided on the liquid nitrogen main pipe (52) and the liquid nitrogen supply pipe (551) to control the opening and closing of the pipes. The mixed pipe assembly includes a mixed supply pipe (62). One end of the mixed supply pipe (62) is connected to the gas supply pipe (45) and the first liquid nitrogen pipe (54) through a three-way valve (61). The other end is connected to the first branch pipe (631), the second branch pipe (641) and the third branch pipe (651). A first control valve (632), a second control valve (642) and a third control valve (652) are respectively provided on the first branch pipe (631), the second branch pipe (641) and the third branch pipe (651) to control the opening and closing of the pipes.

2. The pump head valve seat assembly device according to claim 1, characterized in that, The inner sleeve (321) protrudes radially inward to form a sleeve limiting surface (322), which is located on the side of the suction cup assembly away from the opening end of the inner sleeve (321). The outer end of the second suction cup surface (342) extends axially near the sleeve limiting surface (322) to form a suction cup limiting plate (345), and the outer diameter of the suction cup limiting plate (345) is larger than the inner diameter of the sleeve limiting surface (322).

3. The pump head valve seat assembly device according to claim 1, characterized in that, A pressure sensor (314) is installed inside the inner sleeve (321), a suction cup temperature sensor (3413) is installed on the side of the first suction cup surface (341) facing the opening end of the inner sleeve (321), and a camera (356) and an infrared thermometer (357) are installed on the side of the sliding block (351) facing the opening end of the inner sleeve (321).

4. The pump head valve seat assembly device according to claim 1, characterized in that, A first arc-shaped groove (3411) is provided on the first suction cup surface (341), the first arc-shaped groove (3411) is a through groove and is provided on the radial outer side of the suction cup partition plate (343); the liquid nitrogen supply assembly also includes a nitrogen recovery pipe (553), the nitrogen recovery pipe (553) is connected to the first arc-shaped groove (3411) and the first liquid nitrogen pipe (54), and a nitrogen recovery valve (554) is provided on the nitrogen recovery pipe (553) to control the opening and closing of the pipeline.

5. The pump head valve seat assembly device according to claim 1, characterized in that, The motion drive mechanism includes a rotating chassis (11), a first motor (12), a first telescopic arm (13), a second motor (14), a second telescopic arm (15), a third motor (16), and a sleeve mounting base (17) arranged in sequence. The rotating chassis (11) rotates in a horizontal plane. The first motor (12) is mounted on the rotating chassis (11) and drives the first connecting frame to rotate. The first telescopic arm (13) is fixedly mounted on the first connecting frame, and the moving end of the first telescopic arm (13) is fixedly connected to the second connecting frame. The second motor (14) is fixedly mounted on the second connecting frame, and the moving end of the second motor (14) is connected to the fixed end of the second telescopic arm (15). The third motor (16) is mounted on the moving end of the second telescopic arm (15), and the sleeve mounting base (17) is fixedly connected to the moving end of the third motor (16). The sleeve assembly (3) and the image recognition device (22) are fixedly connected to the side of the sleeve mounting base (17) facing the mounting assembly. A controller (21) is also provided on the sleeve mounting base (17).

6. A method for assembling a pump head valve seat, characterized in that, Using the pump head valve seat assembly device as described in any one of claims 1-5, the installation process includes the following steps: A1. The image recognition device (22) captures the relative position of the sleeve assembly (3) and the valve seat (71) to be installed in real time and feeds it back to the controller (21). The controller (21) controls the action drive mechanism to move so that the open end of the sleeve assembly (3) faces downward and is coaxial with the valve seat (71), and the end face of the open end of the sleeve assembly (3) abuts against the upper surface of the valve seat (71). A2. The gas in the air pump (41) enters the second annular cavity (3493) through the second branch air pipe (471), and then enters the inner cavity of the inner sleeve (321) through the sleeve vent (3461), causing the suction cup assembly to move towards the opening end of the inner sleeve (321) until the first suction cup surface (341) abuts against the valve seat (71); A3. The second branch trachea (471) continues to introduce gas into the second annular cavity (3493) until the pressure sensor (314) detects that the pressure value has reached the predetermined inflation pressure value; A4. The first branch air pipe (461) draws air inward and attracts the valve seat (71) to the surface of the first suction cup (341); at this time, the electromagnet acts and attracts the valve seat (71). A5. The motion drive mechanism drives the sleeve assembly (3) and valve seat (71) to rotate until the valve seat (71) is directly above the sleeve assembly (3); A6. The second branch air pipe (471) draws air inward, reducing the pressure in the cavity inside the inner sleeve (321), and drives the suction cup assembly and valve seat (71) to move into the inner sleeve (321) until the suction cup limiting plate (345) abuts against the sleeve limiting surface (322); continue to draw air until the air pressure sensor (314) detects that the air pressure value has reached the predetermined air drawing pressure value; A7. Liquid nitrogen is introduced into the second chamber (333) in the middle through the liquid nitrogen supply pipe (551). The liquid nitrogen is sprayed into the inner cavity of the inner sleeve (321) through the liquid nitrogen vent (323) to cool the valve seat (71) until the infrared thermometer (357) detects that the temperature value reaches the predetermined cooling temperature value. A8. The action drive mechanism drives the sleeve assembly (3) and valve seat (71) to rotate until the axis of the sleeve assembly (3) is horizontal and aligned with the mounting hole (731) of the pump head (73); A9. The gas in the air pump (41) enters the second annular cavity (3493) through the second branch air pipe (471), and then enters the inner cavity of the inner sleeve (321) through the sleeve vent (3461), causing the suction cup assembly to drive the valve seat (71) to move into the mounting hole (731); A10. The second branch gas tube (471) continues to supply gas into the second annular cavity (3493) until the gas pressure sensor (314) detects that the gas pressure value has reached the predetermined installation pressure value, stops supplying gas, and de-energizes the electromagnet. A11. The second branch air pipe (471) draws air inward, reducing the pressure in the cavity inside the inner sleeve (321), and drives the suction cup assembly to move away from the opening end of the inner sleeve (321), separating from the valve seat (71) and completing the installation of the valve seat (71); the action drive mechanism drives the sleeve assembly (3) to exit from the mounting hole (731); A12. The conveyor belt (72) moves to position the other mounting holes (731) of the pump head (73) in the installation position. Repeat steps A1-A12 until all valve seats (71) are installed.

7. A pump head valve seat assembly method according to claim 6, characterized in that, The valve seat (71) disassembly process includes the following steps: B1. The image recognition device (22) captures the relative position of the sleeve assembly (3) and the mounting hole (731) in real time and feeds it back to the controller (21). The controller (21) controls the action drive mechanism to move, so that the sleeve assembly (3) extends into the mounting hole (731) and abuts against the limiting step (732) in the mounting hole (731). At this time, the end face of the sleeve assembly (3) is flush with the valve seat (71) to be disassembled. B2. The gas in the air pump (41) enters the second annular cavity (3493) through the second branch air pipe (471), and then enters the inner cavity of the inner sleeve (321) through the sleeve vent (3461), causing the suction cup assembly to move towards the valve seat (71) until the first suction cup surface (341) abuts against the valve seat (71); B3. The second branch air tube (471) continues to introduce gas into the second annular cavity (3493) until the air pressure sensor (314) detects that the air pressure value reaches the predetermined inflation pressure value, and the electromagnet acts and attracts the valve seat (71). B4. The second branch pipe (641) introduces gas into the sliding disc cavity (352). The gas enters the sliding sleeve cavity (354) through the sliding arc groove (353), causing the sliding assembly to move towards the valve seat (71) until the outer wall surface of the sliding block (351) facing the sliding sleeve cavity (354) is flush with the end face of the valve seat (71) away from the sleeve assembly (3). B5. Liquid nitrogen is introduced into the sliding disc cavity (352) through the liquid nitrogen main pipeline (52), the first liquid nitrogen pipe (54), the mixing supply pipeline (62) and the second branch pipe (641). The liquid nitrogen contacts the valve seat (71) through the sliding arc groove (353) and cools the valve seat (71) until the temperature value detected by the suction cup temperature sensor (3413) reaches the predetermined cooling temperature value. The first branch pipe (631) of B6 introduces gas into the airbag (355), causing the airbag (355) to expand outward and squeeze the end face of the valve seat (71); B7. The first branch trachea (461) draws air inward and adsorbs the valve seat (71) onto the surface of the first suction cup (341); B8. The second branch air pipe (471) draws air inward, reducing the pressure in the cavity inside the inner sleeve (321), and drives the suction cup assembly and valve seat (71) to move into the inner sleeve (321) until the suction cup limiting plate (345) abuts against the sleeve limiting surface (322); continue to draw air until the air pressure sensor (314) detects that the air pressure value has reached the predetermined air drawing pressure value; B9. The motion drive mechanism drives the sleeve assembly (3) to be pulled out of the mounting hole (731); B10. The first branch pipe (631) draws gas out of the air bag (355), causing the air bag (355) to shrink and separate from the end face of the valve seat (71); B11. The third branch pipe (651) draws air inward to reduce the pressure in the sliding sleeve cavity (354), so that the sliding block (351) and the airbag (355) move into the sliding sleeve cavity (354); B12. The action drive mechanism drives the sleeve assembly (3) to rotate until the opening end of the inner sleeve (321) faces downward. The gas enters the second annular cavity (3493) through the second branch air pipe (471) and then enters the internal cavity of the inner sleeve (321) through the sleeve vent (3461). This causes the suction cup assembly to drive the valve seat (71) to move towards the opening end of the inner sleeve (321). The electromagnet is de-energized, and the valve seat (71) is disassembled.

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