A flat valve repairing device and an automatic control system thereof

Abstract

The application discloses a flat valve repairing device, which comprises a fixing device, a valve cover disassembling device, a valve seat disassembling device, a turnover device, a valve cover fastening device, a packing sealing device and an ultrasonic cleaning device. The fixing device is used for fixing the flat valve; the valve cover disassembling device is used for disassembling the valve cover of the flat valve; the valve seat disassembling device is used for disassembling the valve seat; the turnover device is used for rotating the flat valve; the valve cover fastening device is used for clamping the valve cover; the packing sealing device is used for sealing the packing into the valve cover of the flat valve; and the ultrasonic cleaning device is used for cleaning the disassembled parts. The application further discloses an automatic control system of the flat valve repairing device, which realizes the automatic disassembling, assembling and packing sealing of the flat valve through an industrial control touch screen, a PLC controller, an A / D converter, a signal conditioner, a circuit driver and a power component driver. The application realizes the automatic operation of the disassembling and packing sealing of the flat valve, has high working efficiency and low labor intensity, and is suitable for all scenes in which the flat valve needs to be disassembled.

Description

Technical Field

[0001] This invention belongs to the field of flat plate valve repair, specifically a flat plate valve repair device and its automatic control system. Background Technology

[0002] The structure of a flat plate valve is as follows: Figure 1 As shown, the flat plate valve 12 includes two valve covers 123 at the top and bottom, two valve seats 122 on the side, and two flanges 121 on the side. Currently, the flat plate valve 12 is mainly repaired manually. Repair personnel first disassemble the flat plate valve 12, then clean and reassemble the parts one by one. In practice, disassembling the valve seats 122, valve covers 123, etc., is difficult due to their compact structure and the tendency for water accumulation and corrosion in the valve seats 122 area. Furthermore, the disassembly and assembly process requires repeated manual opening and closing of the flat plate valve 12, resulting in high labor intensity, poor safety, and low work efficiency. Summary of the Invention

[0003] The present invention aims to provide a flat valve repair device and its automatic control system to solve the problems of high labor intensity, poor safety and low work efficiency in the traditional method of repairing flat valves in the prior art.

[0004] To achieve the above objectives, the technical solution adopted by the present invention is as follows: This invention provides a flat valve repair device, including a support frame and a fixing device. The fixing device is used to fix the flat valve. A valve cover disassembly device is provided on the support frame at the position corresponding to the fixing device. The valve cover disassembly device includes a moving mechanism and a repair mechanism. The repair mechanism includes a rotating power component and a disassembly fixture fixed to the end of the rotating power component facing the fixing device. The moving mechanism is used to realize the movement of the repair mechanism in three directions: X-axis, Y-axis and Z-axis. It also includes a valve seat disassembly device, which includes a linear drive element and a valve seat removal mechanism fixed to the working end of the linear drive element. The valve seat removal mechanism includes a housing with a diameter that matches the inner diameter of the valve seat. A through hole is provided on the side wall of the housing. A limiting member for engaging with the valve seat is movably disposed inside the housing. When the limiting member extends out of the through hole, it engages with the valve seat. When the limiting member is inside the housing, the housing moves freely inside the valve seat.

[0005] As a limitation of the present invention: the limiting member includes a plurality of first wedge blocks spaced apart along the circumference of the housing, each first wedge block being hinged to a first control rod, the first control rod being located inside the housing, the axis of the first control rod being parallel to the axis of the housing, a first ring being sleeved on the plurality of first control rods, and a first driving member being connected to the end of the plurality of first control rods away from the first wedge block, the first driving member driving the first control rod to move linearly within the housing so that the first wedge block extends out of the through hole or retracts into the housing; the through hole is provided on the housing at the position corresponding to the first wedge block.

[0006] As a further limitation of the present invention: the limiting member also includes a plurality of second wedge blocks spaced apart along the circumference of the housing, the first wedge blocks and the second wedge blocks are arranged alternately, and a second control rod is hinged to each second wedge block. The second control rod is located inside the housing, and the axial direction of the second control rod is parallel to the axial direction of the housing. A second ring is commonly fitted on the plurality of second control rods. The ends of the plurality of second control rods away from the second wedge blocks are commonly connected to a second driving member. The second driving member drives the second control rod to move linearly within the housing, so that the second wedge blocks extend out of the through hole or retract into the housing. The through hole is provided on the housing at the position corresponding to the first wedge blocks and the second wedge blocks.

[0007] As another limitation of the present invention: the fixing device includes a first bracket, on which an arc-shaped clamping plate for clamping a flat valve flange is provided, and a needle roller is provided at the position where the arc-shaped clamping plate contacts the side of the flange; the bottom of the first bracket is provided with a driving part and a limiting part, the driving part includes a first power member and a gear fixed on the output shaft of the first power member, and a circular rack that meshes with the gear is fixed at the bottom of the first bracket; the limiting part includes a circular guide rail and a first slider fixed at the bottom of the first bracket and used in conjunction with the circular guide rail; the rotation axis of the fixing device is the Z-axis.

[0008] As a further limitation of the present invention: the moving mechanism includes an X-axis moving part, a Y-axis moving part and a Z-axis moving part; The Y-axis moving part includes a Y-axis frame, a second power component, a meshing first gear and a first rack, a first linear guide, and a second slider that cooperates with the first linear guide. The first linear guide extends along the Y-axis direction and is fixedly mounted on the support frame. The second slider is slidably mounted on the first linear guide. The Y-axis frame is fixedly connected to the second slider. The second power component is fixedly mounted on the Y-axis frame. The first gear is fixedly mounted on the output shaft of the second power component. The first rack extends along the Y-axis direction and is fixedly mounted on the support frame. The X-axis moving part includes an X-axis frame, a third power component, a meshing second gear and a second rack, a second linear guide, and a third slider that cooperates with the second linear guide. The Z-axis moving part includes a Z-axis frame, a fourth power component, a connecting plate, a meshing third gear and a third rack, a third linear guide, and a fourth slider that cooperates with the third linear guide. The X-axis frame is fixed on the Y-axis frame. The second rack and the second linear guide extend along the X-axis direction and are fixedly connected to the X-axis frame. The third slider is slidably mounted on the second linear guide. The Z-axis frame is fixedly connected to the third slider. The third power component is fixed on the Z-axis frame. The second gear is fixed on the output shaft of the third power component. The third rack and the third linear guide extend along the Z-axis direction and are fixedly connected to the Z-axis frame. The fourth slider is slidably mounted on the third linear guide. The connecting plate is fixedly connected to the fourth slider. The fourth power component is fixed on the connecting plate. The third gear is fixed on the output shaft of the fourth power component. The repair mechanism is fixedly connected to the connecting plate.

[0009] As another limitation of the present invention: it also includes a flipping device, which includes a second bracket and a flipping shaft rotatably mounted on the second bracket. The rotation axis of the flipping shaft is the X-axis. The central axis of the flipping shaft is on the same straight line as the central axis of the flange on the flat plate valve. A first disc is fixedly sleeved on the flipping shaft. At least one third driving member is fixedly mounted on the first disc. The output end of the third driving member is fixedly connected to a pawl for extending into the flange bolt hole. The third driving member drives the pawl to extend and retract along the X-axis direction. The flipping device also includes a drive assembly for driving the flipping shaft to rotate, and a fifth power component for driving the second support to move along the X-axis.

[0010] As a further limitation of the present invention, it also includes a valve cover fastening device, which includes a mounting base, a fourth driving member, and a chuck; there are two fourth driving members, which are fixedly mounted on the mounting base; there are two chucks, one of which is provided at the output end of each of the fourth driving members; the two chucks move relative to each other to clamp the valve cover.

[0011] As a further limitation of the present invention, it also includes a packing sealing device, which includes a packing sealing base and a packing sealing transfer mechanism. The packing seal transfer mechanism includes a cylinder, the top of which is detachably connected to a rotating power component, an opening at the bottom of the cylinder, and a first pusher on the cylinder for pushing the packing seal out of the opening. The packing seal base is fixed on the mounting base, and the mounting base is provided with a second pusher for sequentially pushing the packing seal into the packing seal base and the cylinder.

[0012] As another limitation of the invention, it also includes an ultrasonic cleaning device for cleaning the various parts on the flat plate valve.

[0013] The present invention also provides an automatic control system for a flat valve repair device, including an industrial control touch screen, a PLC controller, an A / D converter, a signal conditioner, a line driver, and a power component driver that are electrically connected; the output terminal of the signal conditioner is connected to the input terminal of the A / D converter, the output terminal of the A / D converter is connected to the input terminal of the PLC controller, the Ethernet port of the PLC controller is connected to the industrial control touch screen, and the output terminal of the PLC controller is connected to the input terminal of the line controller. A first position sensor is mounted on the first linear guide rail, a second position sensor is mounted on the second linear guide rail, a third position sensor is mounted on the third linear guide rail, a fourth position sensor is mounted on the circular guide rail in the fixing device, and a fifth position sensor is also provided on the flipping device to detect its movement along the X-axis; the output terminals of the first, second, third, fourth, and fifth position sensors are all electrically connected to the input terminal of the signal conditioner; The input terminal of the power component driver is connected to the output terminal of the PLC controller, and the output terminal of the power component driver is connected to the first power component, the second power component, the third power component, the fourth power component, the first pusher, and the drive assembly, respectively. The output terminals of the line driver are connected to the control switches of the fourth driving element, the linear driving element, the first driving element, the second driving element, the rotary power element, and the ultrasonic cleaning device, respectively.

[0014] By adopting the above technical solution, the beneficial effects achieved by the present invention compared with the prior art are as follows: (1) This invention provides a flat valve repair device, including a support frame, a fixing device, a valve cover disassembly device, and a valve seat disassembly device. The fixing device is used to fix the flat valve; the valve cover disassembly device is fixed on the support frame and can move along the X, Y, and Z axes so that the repair mechanism can disassemble the top valve cover of the flat valve. The valve seat disassembly device includes a linear drive element and a valve seat removal mechanism fixed at the working end of the linear drive element. During operation, the linear drive element drives the valve seat removal mechanism to enter the valve seat, and the valve seat is locked by a limiting element. Then, the linear drive element pulls the valve seat removal mechanism and the valve seat out together. This device can disassemble the valve cover and valve seat of the flat valve, solving the problems of high difficulty and low safety of manual disassembly. (2) This invention also includes a flipping device, a valve cover fastening device, a packing sealing device, and an ultrasonic cleaning device; the flipping device is used to rotate the flat valve so that the repair mechanism can disassemble the bottom valve cover of the flat valve. After the valve cover is removed, the valve cover disassembly device moves the valve cover to the valve cover fastening device and clamps the valve cover using the valve cover fastening device. The packing sealing device is used to fill the packing seal into the valve cover of the flat valve. The ultrasonic cleaning device is used to clean the disassembled flat valve parts; this device can realize the automatic disassembly, assembly, and packing sealing of the flat valve, and can safely, quickly, efficiently, accurately, and fully automatically complete the repair of the manual flat valve; (3) The present invention also provides an automatic control system for a flat valve repair device. The system realizes the automatic disassembly, assembly, packing sealing, and cleaning of the flat valve through an industrial control touch screen, PLC controller, A / D converter, signal conditioner, line driver and power component driver. The entire process does not require human intervention, which improves safety, reduces labor intensity and improves work efficiency.

[0015] In summary, this invention enables automated operation of flat valve disassembly and packing sealing, with high safety, high work efficiency, and low labor intensity; this invention is applicable to all scenarios requiring the disassembly of flat valves. Attached Figure Description

[0016] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a schematic diagram of the structure of a flat plate valve in the prior art; Figure 2 This is a front view of the application state of Embodiment 1 of the present invention (valve cover fastening device, packing sealing device, and ultrasonic cleaning device are not shown). Figure 3 This is a side view of the structure of Embodiment 1 of the present invention (the valve seat disassembly device and the flipping device are not shown). Figure 4 This is a schematic diagram of the valve cover disassembly device in Embodiment 1 of the present invention; Figure 5 This is a side view of the fixing device in Embodiment 1 of the present invention; Figure 6 This is a schematic diagram of the main structure of the fixing device and the flat valve in Embodiment 1 of the present invention; Figure 7 This is a schematic diagram of the main structure of the flipping device in Embodiment 1 of the present invention; Figure 8 This is a side view of the valve cover fastening device and packing seal base in Embodiment 1 of the present invention. Figure 9 This is a schematic diagram of the packing sealing device in Embodiment 1 of the present invention; Figure 10 This is a schematic diagram of the packing seal base in Embodiment 1 of the present invention; Figure 11 This is a schematic diagram of the disassembly fixture in Embodiment 1 of the present invention, wherein (a) is the screw guard disassembly fixture, (b) is the screw nut rotation fixture, (c) is the packing seal gland disassembly fixture, and (d) is the upper and lower sleeve disassembly fixture. Figure 12 This is a side view of the valve seat removal mechanism in Embodiment 1 of the present invention. Figure 13 for Figure 12 Sectional view along the middle AA direction; Figure 14 for Figure 13 Sectional view along the BB direction; Figure 15 This is a cross-sectional view of the valve seat removal mechanism in the semi-unlocked state in Embodiment 1 of the present invention; Figure 16 for Figure 15 A cross-sectional view along the CC direction; Figure 17 This is a cross-sectional view of the valve seat removal mechanism in the fully unlocked state in Embodiment 1 of the present invention; Figure 18 for Figure 17 Sectional view along the DD direction; Figure 19 This is a control flowchart of Embodiment 2 of the present invention.

[0018] In the diagram: 1-support frame, 11-support column; 2-Fixing device, 21-First bracket base plate, 22-First column, 23-Arc-shaped clamping plate, 231-Vertical plate, 232-Horizontal plate, 24-First power component, 25-Gear, 26-Circular rack, 27-Circular guide rail, 28-First slider; 3-Valve cover disassembly device; 30-Moving mechanism; 301-Y-axis frame; 302-Second power component; 303-First gear; 304-First rack; 305-First linear guide; 306-Second slider; 307-X-axis frame; 308-Third power component; 309-Second gear; 310-Second rack; 311-Second linear guide; 312-Third slider; 313-Z-axis frame; 314-Fourth power component; 315-Connecting plate; 316-Third gear; 317-Third linear guide; 318-Fourth slider; 32-Repair mechanism; 321-Rotating power component; 322-Extended rod; 323-Socket wrench; 324-Screw screw guard disassembly and assembly tooling; 325-Screw screw nut rotation tooling; 326-Packaging seal gland disassembly and assembly tooling; 327-Upper and lower sheath disassembly and assembly tooling; 4-Valve seat disassembly device, 41-Linear drive element, 411-Piston rod, 42-Valve seat removal mechanism, 421-Housing, 422-Through hole, 423-First wedge block, 424-Second wedge block, 425-First control lever, 426-Second control lever, 427-Rock arm, 428-First ring, 429-Second ring; 5-Flipping device, 501-Second bracket, 5011-Base plate, 5012-Upright rod, 502-Flipping shaft, 503-Spline shaft, 504-First disc, 505-Third driving component, 506-Claw, 507-Second disc, 508-Fourth gear, 509-Fourth rack, 510-Fourth linear guide, 511-Fifth slider; 6-Valve cover fastening device, 61-Mounting base, 62-Fourth drive component, 63-Chuck, 64-Mounting hole; 7-packing seal device, 71-packing seal base, 711-first through hole, 72-packing seal transfer mechanism, 721-cylinder, 722-cylinder cover, 723-connection interface, 724-second through hole, 725-first push rod, 726-push rod nut, 73-packing seal; 8-Ultrasonic cleaning device, 9-Servo motor, 10-Synchronous pulley, 11-Synchronous belt, 12-Flat valve, 121-Flange, 122-Valve seat, 123-Valve cover. Detailed Implementation

[0019] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the flat valve repair device and its automatic control system described herein are preferred embodiments and are only used for illustration and explanation of the present invention, and do not constitute a limitation thereof.

[0020] Example 1: A flat valve repair device like Figures 2 to 18 As shown, this embodiment includes a support frame 1, a fixing device 2, a valve cover disassembly device 3, a valve seat disassembly device 4, a flipping device 5, a valve cover fastening device 6, a packing seal device 7, and an ultrasonic cleaning device 8. The fixing device 2 is used to fix the flat valve 12, the valve cover disassembly device 3 is used to disassemble the valve cover 123, the valve seat disassembly device 4 is used to disassemble the valve seat 122, the flipping device 5 is used to rotate the flat valve 12 so that the repair mechanism 32 can disassemble the bottom valve cover 123 of the flat valve 12, the valve cover fastening device 6 is used to clamp the valve cover 123, the packing seal device 7 is used to fill the valve cover 123 with packing seal 73, and the ultrasonic cleaning device 8 is used to clean the various components disassembled from the flat valve 12.

[0021] It should be noted that, in order to avoid obstructing the view of the structure, Figure 2 The valve cover fastening device, packing seal device, and ultrasonic cleaning device are not shown. Figure 3 The valve seat disassembly device and the flipping device are not shown.

[0022] 1. Fixing device 2; like Figure 2-6 As shown, the fixing device 2 is used to fix the flat plate valve 12. The fixing device 2 includes a first bracket, which includes a first bracket base plate 21 and two first columns 22 fixedly on the first bracket base plate 21 at intervals. The two first columns 22 have the same structure. Taking one of them as an example: the top of the first column 22 is fixed with an arc-shaped clamping plate 23 for clamping the flange 121. From the longitudinal section, as shown... Figure 6 As shown, the arc-shaped plate 23 includes an integrally formed vertical plate 231 and horizontal plate 232, which together form an L-shape. Figure 5 As shown, both the vertical plate 231 and the horizontal plate 232 are provided with arc-shaped surfaces. The arc-shaped surface on the vertical plate 231 is used to hold the flange 121. The arc-shaped clamping plate 23 is provided with needle rollers at the position where it contacts the side of the flange 121. That is, the arc-shaped surface of the horizontal plate 232 is provided with needle rollers, which can reduce the friction between the flange 121 and the arc-shaped clamping plate 23 when the flat plate valve 12 rotates. Figure 5 The middle horizontal plate 232 has six holes for installing needle rollers. Since needle rollers are existing technology, their structure and installation method will not be described in detail in this embodiment. Figure 5 The needle roller is not shown.

[0023] The bottom of the first bracket is equipped with a drive unit and a limiting unit.

[0024] like Figure 6 As shown, the drive unit includes a first power component 24 and a gear 25 fixed on the output shaft of the first power component 24. Here, the first power component 24 is a conventional servo motor, and the gear 25 is fixed on the output shaft of the servo motor. A circular rack 26 that meshes with the gear 25 is fixed at the bottom of the first bracket. During operation, the servo motor drives the gear 25 to rotate, which in turn causes the circular rack 26 and the first bracket to rotate about the Z-axis, allowing the valve seat disassembly device 4 to disassemble the valve seat 122 on the other side. Of course, the first power component 24 can also be replaced with any other structure in the prior art, as long as it can provide driving force to make the gear 25 rotate.

[0025] The limiting part includes a circular guide rail 27 and a first slider 28. The circular guide rail 27 is fixed to the ground, and the first slider 28 is fixed to the bottom of the first bracket for use in conjunction with the circular guide rail 27. The limiting part ensures that the first bracket rotates only about the Z-axis under the drive of the first power member 24.

[0026] II. Support frame 1; Valve cover disassembly device 3; like Figure 2-4As shown, in this embodiment, the support frame 1 is constructed from six pillars 11. The valve cover disassembly device 3 is positioned on the support frame 1 corresponding to the fixing device 2, as shown. Figure 4 As shown, the valve cover disassembly device 3 includes a moving mechanism 30 and a repair mechanism 32.

[0027] The moving mechanism 30 is used to realize the movement of the repair mechanism 32 in the three directions of X-axis, Y-axis, and Z-axis. For example... Figure 4 As shown, the moving mechanism 30 includes an X-axis moving part, a Y-axis moving part, and a Z-axis moving part. The Y-axis moving part includes a Y-axis frame 301, a second power member 302, a meshing first gear 303 and a first rack 304, a first linear guide rail 305, and a second slider 306 that cooperates with the first linear guide rail 305; the X-axis moving part includes an X-axis frame 307, a third power member 308, a meshing second gear 309 and a second rack 310, a second linear guide rail 311, and a third slider 312 that cooperates with the second linear guide rail 311; the Z-axis moving part includes a Z-axis frame 313, a fourth power member 314, a connecting plate 315, a meshing third gear 316 and a third rack, a third linear guide rail 317, and a fourth slider 318 that cooperates with the third linear guide rail 317. The second power component 302, the third power component 308, and the fourth power component 314 here all use existing servo motors. Of course, they can also be replaced with any other structure in the existing technology, as long as they can provide rotational driving force. Figure 4 The third rack is obscured by the third linear guide 317 and is therefore not displayed.

[0028] The first linear guide rail 305 extends along the Y-axis and is fixed on the support frame 1. The second slider 306 is slidably disposed on the first linear guide rail 305. The Y-axis frame 301 is fixedly connected to the second slider 306. The second power component 302 is fixed on the Y-axis frame 301. The first gear 303 is fixed on the output shaft of the second power component 302. In this embodiment, the first gear 303 is located below the Y-axis frame 301. The first rack 304 extends along the Y-axis and is fixed on the support frame 1. The X-axis frame 307 is fixedly mounted on the Y-axis frame 301. The second rack 310 and the second linear guide rail 311 both extend along the X-axis direction and are fixedly connected to the X-axis frame 307. The third slider 312 is slidably mounted on the second linear guide rail 311. The Z-axis frame 313 is fixedly connected to the third slider 312. The third power component 308 is fixedly mounted on the Z-axis frame 313. The second gear 309 is fixedly mounted on the output shaft of the third power component 308 and is located between the Z-axis frame 313 and the X-axis frame 307. The third rack and the third linear guide rail 317 both extend along the Z-axis direction and are fixedly connected to the Z-axis frame 313. The fourth slider 318 is slidably mounted on the third linear guide rail 317. The connecting plate 315 is fixedly connected to the fourth slider 318. The fourth power component 314 is fixedly mounted on the connecting plate 315. The third gear 316 is fixedly mounted on the output shaft of the fourth power component 314. The third gear 316 is located between the Z-axis frame 313 and the connecting plate 315.

[0029] Working Principle: 1. The rotation of the second power component 302 causes the second power component 302, the first gear 303, and the Y-axis frame 301 to move linearly along the Y-axis, thereby causing the X-axis moving part and the Z-axis moving part to also move linearly along the Y-axis, achieving linear movement of the valve cover disassembly device 3 along the Y-axis. 2. With the Y-axis moving part fixed, the rotation of the third power component 308 causes the third power component 308, the second gear 309, and the Z-axis frame 313 to move linearly along the X-axis, thereby causing the Z-axis moving part to also move linearly along the X-axis, achieving linear movement of the valve cover disassembly device 3 along the X-axis. 3. With the Y-axis moving part and the X-axis moving part fixed, the rotation of the fourth power component 314 causes the fourth power component 314, the third gear 316, and the connecting plate 315 to move linearly along the Z-axis, achieving linear movement of the valve cover disassembly device 3 along the Z-axis.

[0030] It should be noted that the support frame 1 is also equipped with leveling screws, which can adjust the overall flatness of the valve cover disassembly device 3.

[0031] like Figure 4As shown, the repair mechanism 32 is fixedly connected to the connecting plate 315. The repair mechanism 32 includes a rotating power component 321 and a disassembly fixture fixed to the end of the rotating power component 321 facing the fixing device 2. Here, the disassembly fixture refers to a socket wrench 323. The rotating power component 321 adopts a hydraulic wrench in the prior art, which can provide rotational power. Of course, any other structure in the prior art that can generate rotational power can also be selected. An extension rod 322 is provided between the disassembly fixture and the rotating power component 321. The top end of the extension rod 322 is fixedly connected to the output end of the rotating power component 321, and the bottom end of the extension rod 322 is detachably connected to the disassembly fixture. Here, the disassembly fixture is a socket wrench 323, which is used to remove the bolts on the valve cover 123. Of course, the socket wrench 323 can be replaced with other components depending on the actual parts that need to be disassembled. Figure 11 The tooling includes the lead screw cover disassembly and assembly tool 324, the lead screw nut rotation tool 325, the packing seal gland disassembly and assembly tool 326, and the upper and lower sheath disassembly and assembly tool 327, or a packing seal device installation tool. All of the above disassembly tooling is equipped with a consistent interface that can be connected to the extension rod 322 to complete the disassembly and repair of various components.

[0032] In use, the moving mechanism 30 is used to move the socket wrench 323 in the repair mechanism 32 to align with the valve cover 123 on the flat valve 12, and then the socket wrench 323 removes the bolts of the valve cover 123 under the rotational power of the rotating power component 321.

[0033] III. Tilting device 5; like Figure 2 , 7 As shown, the flipping device 5 is used to flip the flat plate valve 12, making it easier for the socket wrench 323 to disassemble the valve cover 123 at the bottom of the flat plate valve 12. The flipping device 5 includes a second bracket 501, a flipping shaft 502, and a drive assembly.

[0034] The second support 501 includes a base plate 5011 and two uprights 5012 fixedly spaced on the base plate 5011. The flip shaft 502 is rotatably connected to the two uprights 5012 via bearings. The rotation axis of the flip shaft 502 is the X-axis, and the central axis of the flip shaft 502 is collinear with the central axis of the flange 121 on the flat valve 12. A spline shaft 503 is fixedly mounted on one end of the flip shaft 502 near the fixing device 2. The axial direction of the spline shaft 503 is the same as the axial direction of the flip shaft 502. A first disc 504 is also fixedly sleeved on the other end of the flip shaft 502 near the fixing device 2. At least one third driving member 505 is fixedly mounted on the first disc 504. Here, the third driving member 505 is a conventional cylinder, or any other structure capable of outputting linear motion in the prior art. The output end of the third driving member 505 is fixedly connected to a chuck 506 for inserting into the bolt hole of the flange 121. The third driving member 505 drives the chuck 506 to move along the X-axis to insert into or withdraw from the bolt hole of the flange 121. In this embodiment, the chuck 506 is fixed to the second disc 507, and the output end of the third driving member 505 is fixedly connected to the second disc 507. Under the action of the third driving member 505, the second disc 507 and the chuck 506 move together along the X-axis, and the second disc 507 is movably sleeved on the spline shaft 503.

[0035] The drive assembly includes a servo motor 9, a synchronous pulley 10, and a synchronous belt 11. The servo motor 9 is fixed on the base plate 5011, the synchronous pulley 10 is fixed on the output shaft of the servo motor 9, and one end of the synchronous belt 11 is sleeved on the synchronous pulley 10, while the other end is sleeved on the tilting shaft 502. During operation, the servo motor 9 drives the synchronous pulley 10 and the synchronous belt 11 to rotate, thereby causing the tilting shaft 502 to rotate.

[0036] To improve this embodiment, the flipping device 5 further includes a fifth power component, which is used to move the second support 501 along the X-axis. The fifth power component includes a servo motor 9, a meshing fourth gear 508 and a fourth rack 509, a fourth linear guide rail 510, and a fifth slider 511. The fourth linear guide rail 510 is fixed to the ground and extends along the X-axis. The fifth slider 511 is slidably disposed on the fourth linear guide rail 510 and fixed to the bottom of the substrate 5011. The servo motor 9 is fixed to the substrate 5011. The fourth gear 508 is fixedly connected to the output shaft of the servo motor 9 and is located between the substrate 5011 and the ground. During operation, the servo motor 9 rotates, and the servo motor 9, the second support 501, and the fifth slider 511 move together linearly along the X-axis to move closer to or away from the flat plate valve 12.

[0037] When the second bracket 501 moves close to the flat valve 12, the spline shaft 503 extends into the internal through hole of the flange 121, the pawl 506 extends into the bolt hole of the flange 121, the servo motor 9 in the drive assembly works, the synchronous belt 11 drives the flip shaft 502 to rotate, and the pawl 506 drives the flat valve 12 to rotate at any angle around the X-axis, so that the valve cover 123 at the bottom of the flat valve 12 faces the socket wrench 323, so that the socket wrench 323 can disassemble the bottom valve cover 123.

[0038] In this embodiment, the number of third driving components 505 is set to two, and correspondingly, the number of jaws 506 is also set to two. In use, the two jaws 506 extend into the bolt holes of the flange 121 to drive the flat valve 12 to rotate. Of course, the number of third driving components 505 and jaws 506 can also be set to one, three or other numbers according to actual needs, as long as they can drive the flat valve 12 to rotate.

[0039] IV. Valve seat disassembly device 4; like Figure 2 , 12 As shown in Figure 18, this embodiment also includes a valve seat disassembly device 4, which includes a linear drive element 41 and a valve seat removal mechanism 42 fixed to the working end of the linear drive element 41.

[0040] The linear drive element 41 is a conventional hydraulic cylinder and proportional valve. Under the control of the proportional valve, the hydraulic cylinder can achieve quantitative extension and retraction, driving the valve seat removal mechanism 42 to the position of the valve seat 122 for removal or installation of the valve seat 122. The valve seat removal mechanism 42 is fixed to the output end of the piston rod 411 in the hydraulic cylinder. In this embodiment, the linear drive element 41 can also adopt any other structure in the prior art, such as a cylinder, as long as it can drive the valve seat removal mechanism 42 to move linearly along the X-axis.

[0041] like Figure 13 As shown, the valve seat removal mechanism 42 includes a housing 421. The diameter of the housing 421 is adapted to the inner diameter of the valve seat 122. Here, "adapted" means that the diameter of the housing 421 is slightly smaller than the inner diameter of the valve seat 122, so that the housing 421 can extend into the valve seat 122. A through hole 422 is provided on the side wall of the housing 421. A limiting member for engaging with the valve seat 122 is movably disposed inside the housing 421. When the limiting member extends out of the through hole 422, it engages with the valve seat 122. When the limiting member is inside the housing 421, the housing 421 can move freely within the valve seat 122.

[0042] The specific structure of the limiting component is as follows: Figure 14As shown, the limiting component includes a plurality of first wedge blocks 423 and a plurality of second wedge blocks 424 spaced apart circumferentially along the housing 421. In this embodiment, the number of first wedge blocks 423 and the plurality of second wedge blocks 424 is set to four, with the four first wedge blocks 423 and the four second wedge blocks 424 arranged alternately. From a longitudinal section, the four first wedge blocks 423 and the four second wedge blocks 424 are evenly distributed in a ring-shaped symmetrical pattern. Of course, the number of first wedge blocks 423 and second wedge blocks 424 can be adjusted to two, three or other numbers according to actual needs.

[0043] like Figure 13 As shown, each first wedge block 423 is hinged to a first control rod 425, totaling four first control rods 425. One end of each first control rod 425 is located inside the housing 421 and hinged to the first wedge block 423 via a pin and a rocker arm 427. The other end extends out of the housing 421. The axial direction of the first control rod 425 is parallel to the axial direction of the housing 421, both along the X-axis. A first ring 428 is commonly fitted onto the four first control rods 425 to ensure the consistency of the four first control rods 425's movements. The ends of the four first control rods 425 furthest from the first wedge block 423 are connected to a first driving member. Figure 13 , 15 Not shown in 17. The first driving component is a cylinder in the prior art, that is, the extended ends of the four first control rods 425 are connected to a cylinder. A through hole 422 is provided on the housing 421 corresponding to the position of the first wedge block 423. The cylinder drives the first control rod 425 to move linearly in the housing 421, so that the first wedge block 423 extends out of the through hole 422 or retracts into the housing 421. When the first wedge block 423 extends out of the through hole 422, it can be locked into the groove of the valve seat 122.

[0044] like Figure 13 As shown, each second wedge block 424 is hinged to a second control rod 426, totaling four second control rods 426. One end of each second control rod 426 is located inside the housing 421 and hinged to the second wedge block 424 via a pin and a rocker arm 427. The other end extends out of the housing 421. The axial direction of the second control rod 426 is parallel to the axial direction of the housing 421, both along the X-axis. A second ring 429 is fitted onto all four second control rods 426 to ensure the consistency of the four second control rods 426's movements. The ends of the four second control rods 426 furthest from the second wedge block 424 are connected to a second driving member. Figure 13 , 15Not shown in 17. The second driving component also adopts the cylinder of the prior art, that is, the extended ends of the four second control rods 426 are connected to one cylinder. A through hole 422 is also provided on the housing 421 corresponding to the position of the second wedge block 424. The cylinder drives the second control rod 426 to move linearly in the housing 421, so that the second wedge block 424 extends out of the through hole 422 or retracts into the housing 421. When the second wedge block 424 extends out of the through hole 422, it can be locked into the groove of the valve seat 122.

[0045] The working principle is as follows: Figure 17 , 18 As shown, when the valve seat removal mechanism 42 is not inserted into the valve seat 122 of the flat valve 12, the first drive unit controls the first control lever 425 and the second drive unit controls the second control lever 426, both of which are in a retracted state. At this time, the first wedge block 423 and the second wedge block 424 are both inside the housing 421 of the valve seat removal mechanism 42 and will not contact the components inside the valve seat 122 of the flat valve 12. When the hydraulic cylinder controls the valve seat removal mechanism 42 to reach the position of the valve seat 122 of the flat valve 12, the first drive unit first controls the first control lever 425 to extend, and the rocker arm 427 causes the first wedge block 423 to pass through the through hole 422, extend out of the housing 421, and be engaged in the groove of the valve seat 122. See [reference needed]. Figure 15 , 16 Then, the second drive unit controls the second control lever 426 to extend, and the rocker arm 427 causes the second wedge block 424 to pass through the through hole 422, extend out of the housing 421, and engage in the groove of the valve seat 122. At this time, the first wedge block 423 and the second wedge block 424 clamp the valve seat 122. See [link / reference] Figure 13 , 14 Simultaneously, the first wedge block 423 and the second wedge block 424 press against each other to form an arch-shaped structure. Even if the first and second driving components no longer provide thrust, the external radial force cannot push the first wedge block 423 and the second wedge block 424 back into the housing 421, thereby achieving the purpose of locking the valve seat 122. Then, the hydraulic cylinder drives the piston rod 411 to retract, and the housing 421 retracts accordingly, thereby pulling out the valve seat 122. After being pulled out, the second wedge block 424 is first controlled to retract, releasing the arch-shaped structure, and then the first wedge block 423 is controlled to retract, thereby disengaging the valve seat 122. Similarly, the installation process of the valve seat 122 is the reverse process of the above.

[0046] V. Ultrasonic cleaning device 8; like Figure 3As shown, this embodiment also includes an ultrasonic cleaning device 8, used to clean the disassembled flat valve 12 body, two valve seats 122, top valve cover 123, bottom valve cover 123, valve stem, valve plate, and lower guide rod, etc., to prevent the flat valve 12 from being affected by incomplete internal cleaning, thus ensuring the smooth operation and sealing performance of the flat valve 12. The ultrasonic cleaning device 8 is prior art and will not be described in detail in this embodiment.

[0047] 6. Valve cover fastening device; like Figure 3 , 8 As shown, this embodiment also includes a valve cover fastening device 6, which is used to hold the disassembled valve cover 123 in place, so as to facilitate the disassembly of the parts on the valve cover 123 and the replacement of the seals.

[0048] The valve cover fastening device 6 includes a mounting base 61, a fourth drive component 62, and a chuck 63. The fourth drive component 62 is a conventional cylinder, and two fourth drive components 62 are fixed relative to each other on the mounting base 61. Two chucks 63 are also provided, one at the output end of each fourth drive component 62. During operation, the two fourth drive components 62 drive the two chucks 63 to move relative to each other, clamping the valve cover 123.

[0049] To improve this embodiment, the mounting base 61 has a mounting hole 64 at the bottom, which is located between the two chucks 63. The mounting hole 64 is used to accommodate the valve stem and other components connected to the valve cover 123, so that the valve cover 123 is fixed flat on the workbench, which facilitates the next repair work.

[0050] 7. Packing sealing device; like Figure 3 , 8 As shown in Figure -10, this embodiment also includes a packing sealing device 7, such as... Figure 9 As shown, the packing sealing device 7 includes a packing sealing base 71 and a packing sealing transfer mechanism 72.

[0051] like Figure 8 , 10 As shown, the packing seal base 71 is fixed on the mounting base 61. The packing seal base 71 is provided with a first through hole 711. The packing seal 73 is stored below the mounting base 61. A second pushing member is provided inside the mounting base 61. The second pushing member includes a cylinder and a second pushing rod. Figure 8 The second pusher is not shown. The cylinder operates, causing the second pusher rod to push the packing seal 73 into the first through hole 711 within the packing seal base 71. It should be noted that the bottom of the first through hole 711 in the packing seal base 71 has a certain taper, see [reference needed]. Figure 10 .like Figure 8As shown, an opening is provided on the mounting base 61 at the position corresponding to the first through hole 711. The diameter of the opening is slightly larger than the outer diameter of the packing seal 73. As the cylinder is pushed up, the packing seal 73 gradually enters the packing seal base 71 for temporary storage.

[0052] like Figure 9 As shown, the packing seal transfer mechanism 72 includes a cylinder 721. The top of the cylinder 721 is detachably connected to the rotating power component 321. Specifically, a cylinder cover 722 is fixedly provided on the top of the cylinder 721, and a connection interface 723 is detachably connected above the cylinder cover 722. This connection interface 723 serves as the installation fixture for the packing seal device and is used for detachable connection with the extension rod 322. A second through hole 724 is provided inside the cylinder 721. The diameter of the first through hole 711 is slightly smaller than the diameter of the packing seal 73 and the diameter of the second through hole 724. During filling, the moving mechanism 30 drives the packing seal transfer mechanism 72 to dock with the packing seal base 71. After docking, the second pushing component pushes the packing seal 73 into the second through hole 724 inside the packing seal transfer mechanism 72.

[0053] The cylinder 721 is provided with a first pushing member for pushing out the packing seal 73 from the second through hole 724. The first pushing member includes a first pushing rod 725 movably disposed within the cylinder 721, which moves linearly along the Z-axis. The first pushing member also includes a servo motor 9, a synchronous pulley 10, a synchronous belt 11, and a pushing rod nut 726 for driving the first pushing rod 725. The synchronous pulley 10 is fixed on the output shaft of the servo motor 9, and the synchronous belt 11 is sleeved on the pushing rod nut 726 and the synchronous pulley 10. The pushing rod nut 726 is fixedly connected to the cylinder cover 722 via a bearing and can rotate relative to the cylinder cover 722. The first pushing rod 725 is threaded into the pushing rod nut 726. When the servo motor 9 rotates, it drives the pushing rod nut 726 to rotate, and the first pushing rod 725 moves along the Z-axis, thereby pushing the packing seal 73 out of the second through hole 724.

[0054] Working principle: After sufficient packing seals 73 are filled into the second through hole 724 inside the packing seal transfer mechanism 72, the moving mechanism 30 drives the packing seal transfer mechanism 72 to align with the valve cover 123 clamped on the mounting base 61. After alignment, the servo motor 9 drives the push rod nut 726 to rotate, causing the first push rod 725 to move downwards, thereby pushing the packing seals 73 into the valve cover 123. In this embodiment, the diameter of the second through hole 724 of the packing seal transfer mechanism 72 is slightly smaller than the diameter of the mounting through hole on the valve cover 123, ensuring that the packing seals 73 remain intact during installation.

[0055] It should be noted that, since the packing seal 73 is a one-way seal, one end has a lip, see [link / reference]. Figure 10During installation, the lip needs to be aligned with the direction of the insertion action. Manual assembly can easily cause damage. The use of the packing seal device 7 can ensure that the packing seal 73 remains intact.

[0056] The operation steps in this embodiment are as follows: Step 1: Place the flat plate valve 12 to be disassembled in the repair area, and the operator operates the moving mechanism 30 to move the flat plate valve 12 onto the fixed device 2. Step 2: Select the screw cover disassembly and assembly tool 324, fix it to the bottom end of the extension rod 322, and use it to remove the screw cover of the manual flat valve and remove the handwheel. Then remove the screw cover disassembly and assembly tool 324, install the screw nut rotation tool 325 on the bottom end of the extension rod 322 to open the manual flat valve 12. Step 3: Remove the screw nut rotating tool 325, replace it with socket wrench 323, and use it to remove the bolts on the top valve cover 123 of the flat valve 12, and lift the valve cover 123, valve stem, valve plate and lower guide rod together; Step 4: Use the flipping device 5 to flip the flat valve 12 180°, and use the socket wrench 323 to remove the bolts on the bottom valve cover 123 of the flat valve 12. Step 5: Use the valve seat disassembly device 4 to remove the valve seat 122 on one side of the flat plate valve 12, and then rotate the fixing device 2 180° so that the valve seat disassembly device 4 can remove the valve seat 122 on the other side of the flat plate valve 12. Step 6: Using the moving mechanism 30, the body of the flat valve 12, the two valve seats 122, the two valve covers 123, the valve stem, the valve plate, and the lower guide rod are moved to the ultrasonic cleaning device 8 for ultrasonic cleaning. After cleaning, the cleaned valve cover 123 is placed on the valve cover fastening device 6 and secured using the moving mechanism 30. Step 7: Fill and seal with packing material 73; First, select the upper and lower sheath disassembly and assembly tool 327 and install it at the bottom of the extension rod 322 to remove the sheath on the valve cover 123, and remove the valve stem nut, thrust bearing, valve stem and other parts; then replace the packing seal gland disassembly and assembly tool 326 to remove the packing seal gland and take out the old packing seal 73; then remove the packing seal gland disassembly and assembly tool 326, replace it with the packing seal transfer mechanism 72, and move it to the packing seal base 71 to install the packing seal 73. Then move the packing seal transfer mechanism 72 with the packing seal 73 installed to the valve cover fastening device 6 and align it with the valve cover 123, and install the packing seal 73 into the valve cover 123. Step 8: The assembly process is carried out in the reverse order of the above disassembly process, and the bolt tightening torque is recorded. After the assembly is completed, the movable flat valve is switched once, and the switching torque is recorded.

[0057] Example 2: An automatic control system for a flat valve repair device This embodiment is used to implement automated control of Embodiment 1. For example... Figure 19 As shown, this embodiment includes an industrial touchscreen, a PLC controller, an A / D converter, a signal conditioner, a line driver, and a power component driver, all electrically connected. The output of the signal conditioner is connected to the input of the A / D converter, the output of the A / D converter is connected to the input of the PLC controller, the Ethernet port of the PLC controller is connected to the industrial touchscreen, and the output of the PLC controller is connected to the input of the line controller and the input of the power component driver, respectively.

[0058] In this embodiment, a first position sensor is installed on the first linear guide rail 305, a second position sensor is installed on the second linear guide rail 311, a third position sensor is installed on the third linear guide rail 317, a fourth position sensor is installed on the circular guide rail 27 in the fixing device 2, and a fifth position sensor is also provided on the flipping device 5 to detect its movement along the X-axis direction, i.e., the fifth position sensor is installed on the fourth linear guide rail 510. The first, second, third, fourth, and fifth position sensors are used to determine whether the movement of each device is in place. The output terminals of the first, second, third, fourth, and fifth position sensors are all electrically connected to the input terminal of the signal conditioner.

[0059] The PLC controller is responsible for controlling the operation of Embodiment 1 according to the program settings, and determining whether the action is in place and the position of each device based on the signals returned by the first, second, third, fourth, and fifth position sensors. It can also record information such as the torque of the upper clamp and the torque of the flat valve handwheel switch during the repair process. The PLC controller can communicate with the industrial control touch screen (host computer) to receive work instructions and transmit data.

[0060] In this embodiment, the power component driver is a servo motor driver. The input terminal of the servo motor driver is connected to the output terminal of the PLC controller, and the output terminal of the servo motor driver is connected to the first power component 24, the second power component 302, the third power component 308, the fourth power component 314, the servo motor 9 in the first push component, and the servo motor 9 in the drive assembly, respectively. Here, the first power component 24, the second power component 302, the third power component 308, and the fourth power component 314 are all servo motors mentioned in Embodiment 1.

[0061] The output terminals of the line driver are connected to the control switches of the fourth drive element 62, the linear drive element 41, the first drive element, the second drive element, the rotary power element 321, and the ultrasonic cleaning device 8, respectively. Specifically, the connection of the output terminal of the line driver to the fourth drive element 62, the first drive element, and the second drive element means that the output terminal of the line driver is connected to the cylinder solenoid valve. The connection of the output terminal of the line driver to the linear drive element 41 means that the output terminal of the line driver is connected to the hydraulic cylinder solenoid valve. The connection of the output terminal of the line driver to the rotary power element 321 means that the output terminal of the line driver is connected to the hydraulic wrench control switch. This structure enables the valve cover fastening device 6 to automatically clamp the valve cover 123, the valve seat disassembly device 4 to automatically remove the valve seat 122, the automatic extension or retraction of the four first wedge blocks 423, the automatic extension or retraction of the four second wedge blocks 424, the automatic rotation of the hydraulic wrench, and the automatic switching of the ultrasonic cleaning device 8.

[0062] This embodiment can receive operator commands and automatically control the valve cover disassembly device 3, fixing device 2, flipping device 5, valve seat disassembly device 4, valve cover fastening device 6, ultrasonic cleaning device 8, etc., to perform actions. After repair, the repaired flat valve 12 is transferred to the qualified area by the moving mechanism 30. The entire process does not require human intervention, which improves safety, reduces labor intensity, and improves work efficiency.

[0063] It should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art can still modify the technical solutions described in the above embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A flat valve repair device, characterized in that, It includes a support frame and a fixing device. The fixing device is used to fix the flat valve. A valve cover disassembly device is set on the support frame at the position corresponding to the fixing device. The valve cover disassembly device includes a moving mechanism and a repair mechanism. The repair mechanism includes a rotating power component and a disassembly fixture fixed to the end of the rotating power component facing the fixing device. The moving mechanism is used to realize the movement of the repair mechanism in the three directions of X-axis, Y-axis and Z-axis. It also includes a valve seat disassembly device, which includes a linear drive element and a valve seat removal mechanism fixed to the working end of the linear drive element. The valve seat removal mechanism includes a housing with a diameter that matches the inner diameter of the valve seat. A through hole is provided on the side wall of the housing. A limiting member for engaging with the valve seat is movably disposed inside the housing. When the limiting member extends out of the through hole, it engages with the valve seat. When the limiting member is inside the housing, the housing moves freely inside the valve seat.

2. The flat valve repair device according to claim 1, characterized in that, The limiting component includes a plurality of first wedge blocks spaced apart along the circumference of the housing. Each first wedge block is hinged to a first control rod, which is located inside the housing. The axis of the first control rod is parallel to the axis of the housing. A first ring is fitted on the plurality of first control rods. The ends of the plurality of first control rods away from the first wedge blocks are connected to a first driving member. The first driving member drives the first control rods to move linearly within the housing, causing the first wedge blocks to extend out of or retract into the housing through the through hole. The through hole is located on the housing at the position corresponding to the first wedge block.

3. The flat valve repair device according to claim 2, characterized in that, The limiting component also includes a plurality of second wedge blocks spaced apart along the circumference of the housing. The first and second wedge blocks are arranged alternately. Each second wedge block is hinged to a second control rod, which is located inside the housing. The axis of the second control rod is parallel to the axis of the housing. A second ring is fitted on the plurality of second control rods. The ends of the plurality of second control rods away from the second wedge blocks are connected to a second driving member. The second driving member drives the second control rods to move linearly within the housing, causing the second wedge blocks to extend out of or retract into the housing through the through hole. The through hole is located on the housing at a position corresponding to the first and second wedge blocks.

4. A flat valve repair device according to any one of claims 1-3, characterized in that, The fixing device includes a first bracket, on which an arc-shaped clamping plate for holding a flat valve flange is provided, and a needle roller is provided at the position where the arc-shaped clamping plate contacts the side of the flange; the bottom of the first bracket is provided with a driving part and a limiting part, the driving part includes a first power component and a gear fixed on the output shaft of the first power component, and a circular rack that meshes with the gear is fixed at the bottom of the first bracket; the limiting part includes a circular guide rail and a first slider fixed at the bottom of the first bracket and used in conjunction with the circular guide rail; the rotation axis of the fixing device is the Z-axis.

5. A flat valve repair device according to claim 4, characterized in that, The moving mechanism includes an X-axis moving part, a Y-axis moving part, and a Z-axis moving part; The Y-axis moving part includes a Y-axis frame, a second power component, a meshing first gear and a first rack, a first linear guide, and a second slider that cooperates with the first linear guide. The first linear guide extends along the Y-axis direction and is fixedly mounted on the support frame. The second slider is slidably mounted on the first linear guide. The Y-axis frame is fixedly connected to the second slider. The second power component is fixedly mounted on the Y-axis frame. The first gear is fixedly mounted on the output shaft of the second power component. The first rack extends along the Y-axis direction and is fixedly mounted on the support frame. The X-axis moving part includes an X-axis frame, a third power component, a meshing second gear and a second rack, a second linear guide, and a third slider that cooperates with the second linear guide. The Z-axis moving part includes a Z-axis frame, a fourth power component, a connecting plate, a meshing third gear and a third rack, a third linear guide, and a fourth slider that cooperates with the third linear guide. The X-axis frame is fixed on the Y-axis frame. The second rack and the second linear guide extend along the X-axis direction and are fixedly connected to the X-axis frame. The third slider is slidably mounted on the second linear guide. The Z-axis frame is fixedly connected to the third slider. The third power component is fixed on the Z-axis frame. The second gear is fixed on the output shaft of the third power component. The third rack and the third linear guide extend along the Z-axis direction and are fixedly connected to the Z-axis frame. The fourth slider is slidably mounted on the third linear guide. The connecting plate is fixedly connected to the fourth slider. The fourth power component is fixed on the connecting plate. The third gear is fixed on the output shaft of the fourth power component. The repair mechanism is fixedly connected to the connecting plate.

6. A flat valve repair device according to any one of claims 1-3 and 5, characterized in that, It also includes a flipping device, which includes a second bracket and a flipping shaft rotatably mounted on the second bracket. The rotation axis of the flipping shaft is the X-axis. The central axis of the flipping shaft is on the same straight line as the central axis of the flange on the flat plate valve. A first disc is fixedly sleeved on the flipping shaft. At least one third driving member is fixedly mounted on the first disc. The output end of the third driving member is fixedly connected to a claw for extending into the flange bolt hole. The third driving member drives the claw to extend and retract along the X-axis direction. The flipping device also includes a drive assembly for driving the flipping shaft to rotate, and a fifth power component for driving the second support to move along the X-axis.

7. A flat valve repair device according to claim 6, characterized in that, It also includes a valve cover fastening device, which includes a mounting base, a fourth drive component, and chucks; there are two fourth drive components, which are fixedly mounted on the mounting base; there are two chucks, one at the output end of each fourth drive component, and the two chucks move relative to each other to clamp the valve cover.

8. A flat valve repair device according to claim 7, characterized in that, It also includes a packing seal device, which includes a packing seal base and a packing seal transfer mechanism; The packing seal transfer mechanism includes a cylinder, the top of which is detachably connected to a rotating power component, an opening at the bottom of the cylinder, and a first pusher on the cylinder for pushing the packing seal out of the opening. The packing seal base is fixed on the mounting base, and the mounting base is provided with a second pusher for sequentially pushing the packing seal into the packing seal base and the cylinder.

9. A flat valve repair device according to any one of claims 1-3, 5, 7, and 8, characterized in that, It also includes an ultrasonic cleaning device for cleaning the various parts on the flat valve.

10. An automatic control system for a flat valve repair device, used to automate the control of the flat valve repair device according to any one of claims 1-9, characterized in that, It includes an industrial control touch screen, a PLC controller, an A / D converter, a signal conditioner, a line driver, and a power component driver with electrical connections; the output of the signal conditioner is connected to the input of the A / D converter, the output of the A / D converter is connected to the input of the PLC controller, the Ethernet port of the PLC controller is connected to the industrial control touch screen, and the output of the PLC controller is connected to the input of the line controller. A first position sensor is mounted on the first linear guide rail, a second position sensor is mounted on the second linear guide rail, a third position sensor is mounted on the third linear guide rail, a fourth position sensor is mounted on the circular guide rail in the fixing device, and a fifth position sensor is also provided on the flipping device to detect its movement along the X-axis; the output terminals of the first, second, third, fourth, and fifth position sensors are all electrically connected to the input terminal of the signal conditioner; The input terminal of the power component driver is connected to the output terminal of the PLC controller, and the output terminal of the power component driver is connected to the first power component, the second power component, the third power component, the fourth power component, the first pusher, and the drive assembly, respectively. The output terminals of the line driver are connected to the control switches of the fourth driving element, the linear driving element, the first driving element, the second driving element, the rotary power element, and the ultrasonic cleaning device, respectively.

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