Emergency treatment valve screwing device

Abstract

The utility model relates to an emergency treatment valve screwing device, which belongs to the field of valve screwing and comprises a manipulator, a positioning mechanism for positioning valve screwing is arranged at the front end of the manipulator, and a screwing mechanism for clamping and screwing a valve is arranged on the outer side of the positioning mechanism. According to the emergency treatment valve screwing device, the positioning mechanism enables power of a driving motor to be effectively transmitted through meshing design of a driven bevel gear and a driving bevel gear, so that a screwing shaft pipe is driven to rotate, the transmission mechanism improves the force transmission efficiency, a depth camera provides high-precision feedback for positioning, and the positioning accuracy is improved. The mechanical arm can quickly and accurately position the valve, efficient operation can be kept even in the complex environment or the environment with poor sight, practicability and durability are fully considered in the design of the positioning mechanism, the whole screwing device can reliably execute tasks under the emergency situation, and operation safety and efficiency are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of valve screwing, in particular to an emergency valve screwing device. Background Art

[0002] In actual petrochemical and hazardous chemical disasters, in order to further control the spread of disasters during the fire rescue process, it is necessary to carry out valve closing and material cutting according to the characteristics of the medium, process and equipment. At present, the fire rescue force does not have targeted intelligent and efficient auxiliary shut-off equipment. Once the power distribution and power are lost at the accident site, it is carried out manually. With the continuous development of materials science, artificial intelligence and automatic control technology, emergency plugging of hazardous chemicals, emergency valve closing and material cutting, flowing hazardous chemicals containment and disposal technology and related equipment will also develop in the direction of intelligent control, convenient disposal, modular equipment and equipment integration. The emergency disposal equipment for hazardous chemicals is powerful, simple and flexible in operation, easy to maintain, carry and load, and has strong environmental adaptability. The equipment that is easy to integrate with unmanned equipment will be the focus of future research and development of emergency disposal technology equipment for hazardous chemicals.

[0003] As disclosed in Chinese patent announcement number (CN212584717U), a quick clamping and locking valve device for gas or liquid filling includes a main body bracket, a valve screw locking mechanism, a rotary drive device, a clamp, a drive assembly and a hydraulic pipeline. The valve screw locking mechanism can be rotatably assembled on the lower end of the main body bracket. The rotary drive device is assembled on the main body bracket and connected to the valve screw locking mechanism to drive the valve screw locking mechanism to rotate. The clamp is placed on one side of the valve screw locking mechanism, which includes two clamp plates hinged to each other through a rotating shaft in the middle part. The lower ends of the two clamp plates extend to both sides of the lower end of the valve screw locking mechanism respectively. The rotating shaft is connected and fixed to the main body bracket. The drive assembly is transmission-connected to the upper ends of the two clamp plates. The inner sides of the lower ends of the two clamp plates are respectively provided with gas nozzle support blocks and filling joints. One end of the hydraulic pipeline is connected to the filling joint. Advantages: reasonable structural design, capable of realizing automatic filling and valve locking, and improving operation safety performance.

[0004] However, in the prior art such as the above-mentioned patent, there is still a problem of poor emergency screw positioning effect for valves. In the prior art, a rotary drive device is assembled on a main bracket and connected to a valve screw locking mechanism to drive the valve screw locking mechanism to rotate. However, in the current robot valve screwing task, the valve is screwed by grasping the valve handle with the end effector of the robotic arm. Since the end effector of the robotic arm cannot accurately match the valve position, internal force is often generated during the rotation of the valve, which can easily cause damage to the valve and even the robotic arm, and ultimately lead to the failure of the screwing task. Utility Model Content

[0005] In view of the deficiencies of the prior art, the utility model provides an emergency treatment valve screwing device, which has the advantages of good valve tightening and positioning effect, and solves the problem of poor emergency treatment screwing and positioning effect of valves in the prior art.

[0006] To achieve the above object, the utility model provides the following technical solution: an emergency treatment valve screwing device, including a manipulator, a positioning mechanism for positioning valve screwing is arranged at the front end of the manipulator, and a screwing mechanism for clamping and screwing the valve is arranged outside the positioning mechanism;

[0007] The positioning mechanism includes a connection box fixed at the front end of the manipulator. The left inner wall of the connection box is rotatably connected with a screwing shaft tube through a bearing. A driven bevel gear is fixed on the outside of the screwing shaft tube and inside the connection box. A protective box is fixed on the outside of the connection box. A driving motor is fixed on the inner wall of the protective box. A connection shaft is fixed on the outside of the output shaft of the driving motor. The front end of the connection shaft penetrates and extends into the connection box and is fixed with a driving bevel gear, and the driving bevel gear is meshed with the driven bevel gear. A depth camera is fixed at the right end of the screwing shaft tube;

[0008] The screwing mechanism includes three fixing frames fixed on the outside of the screwing shaft tube. Sliding openings are opened on the right sides of the three fixing frames, and clamping jaws are slidably connected to the inner walls of the three sliding openings. The left ends of the three clamping jaws are respectively fixed with limiting blocks located inside the three fixing frames. Pulling ropes are fixed on the outsides of the three limiting blocks. A cylinder is fixed on the inner wall of the screwing shaft tube. A pulling block is fixed on the outside of the output shaft of the cylinder, and the outside of the pulling block is respectively fixed with the three pulling ropes.

[0009] Further, a controller is fixed on the outside of the manipulator.

[0010] Further, a rotating hole is opened on the right side of the connection box, and the screwing shaft tube is rotatably connected inside the rotating hole.

[0011] Further, the screwing shaft tube is a hollow cylinder with both ends closed.

[0012] Further, three pulling sleeves are fixed on the inner wall of the screwing shaft tube, and the three pulling ropes are respectively slidably connected along the inner walls of the three pulling sleeves.

[0013] Further, the width of the clamping jaw is equal to the distance between the front and rear inner walls of the sliding opening, and the length of the limiting block is greater than the width of the clamping jaw.

[0014] Further, valve clamping blocks are fixed on the inner sides of the three clamping jaws, and rope holes for the pulling ropes to pass through are opened on the sides of the fixing frames opposite to the screwing shaft tube.

[0015] Compared with the prior art, the technical solution of the present application has the following beneficial effects:

[0016] 1. For this emergency treatment valve screwing device, through the meshing design of the driven bevel gear and the driving bevel gear in the positioning mechanism, the power of the driving motor can be effectively transmitted, thereby driving the rotation of the screwing shaft tube. This transmission mechanism not only improves the transmission efficiency of force, but also the depth camera provides high-precision feedback for positioning, enabling the manipulator to quickly and accurately position the valve, and it can still operate efficiently even in complex or poorly visible environments. The design of the positioning mechanism fully considers practicality and durability, enabling the entire screwing device to reliably perform tasks in emergencies, improving the safety and efficiency of operations.

[0017] 2. For this emergency treatment valve screwing device, the screwing mechanism can adapt to valves of different sizes through the fixed frame in cooperation with the sliding opening and the clamping jaws, providing a wide range of applications. The clamping jaws open and close through the coordinated action of the traction rope and the air cylinder. This not only enables the clamping jaws to stably hold the valve, but also enables precise screwing of the valve through the precise control of the air cylinder, allowing the operator to easily control the screwing of the valve, and it can quickly respond even in emergencies. This not only improves the efficiency and accuracy of valve screwing, but also greatly enhances the practicality and reliability of the entire device. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the present utility model;

[0019] Figure 2 It is a schematic diagram of the positioning mechanism of the present utility model;

[0020] Figure 3 It is a schematic diagram of the screwing mechanism of the present utility model;

[0021] Figure 4 It is a partial schematic diagram of the screwing mechanism of the present utility model.

[0022] In the figure: 1 manipulator, 2 positioning mechanism, 21 connection box, 22 screwing shaft tube, 23 driven bevel gear, 24 protection box, 25 driving motor, 26 connection shaft, 27 driving bevel gear, 28 depth camera, 3 screwing mechanism, 31 fixed frame, 32 sliding opening, 33 clamping jaws, 34 limit block, 35 traction rope, 36 air cylinder, 37 traction block, 38 traction sleeve. Detailed Embodiments

[0023] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0024] Please refer to Figure 1 , an emergency treatment valve screwing device in this embodiment includes a manipulator 1. A positioning mechanism 2 for positioning valve screwing is provided at the front end of the manipulator 1, and a screwing mechanism 3 for clamping and screwing the valve is provided outside the positioning mechanism 2.

[0025] In this embodiment, a controller is fixed outside the manipulator 1.

[0026] Please refer to Figure 2 , for positioning valve screwing, the positioning mechanism 2 in this embodiment includes a connection box 21 fixed at the front end of the manipulator 1. The left inner wall of the connection box 21 is rotatably connected to a screwing shaft tube 22 through a bearing. A driven bevel gear 23 is fixed on the outside of the screwing shaft tube 22 and inside the connection box 21. A protective box 24 is fixed outside the connection box 21. A driving motor 25 is fixed on the inner wall of the protective box 24. A connection shaft 26 is fixed on the outside of the output shaft of the driving motor 25. The front end of the connection shaft 26 penetrates and extends into the connection box 21 and is fixed with a driving bevel gear 27, and the driving bevel gear 27 is meshed with the driven bevel gear 23. The positioning mechanism 2 aligns with the screwing part of the valve. Through the meshing transmission of the driving motor 25, the driving bevel gear 27 and the driven bevel gear 23, the position of the screwing shaft tube 22 is finely adjusted to ensure alignment with the screwing part of the valve. A depth camera 28 is fixed at the right end of the screwing shaft tube 22. The manipulator 1 carries the positioning mechanism 2 to move to the position where the valve is located, through the rotation of the screwing shaft tube 22 and the detection of the depth camera 28.

[0027] In this embodiment, a rotating hole is opened on the right side of the connection box 21, and the screwing shaft tube 22 is rotatably connected inside the rotating hole. The screwing shaft tube 22 is a hollow cylinder with both ends closed. Once the positioning is accurate, the positioning mechanism 2 will be locked in place and ready for the screwing operation.

[0028] Please refer to Figures 3 to 4, for clamping and screwing the valve, the screwing mechanism 3 in this embodiment includes three fixing brackets 31 fixed on the outer side of the screwing shaft tube 22. Sliding openings 32 are provided on the right sides of the three fixing brackets 31, and clamping jaws 33 are slidably connected to the inner walls of the three sliding openings 32. The manipulator 1 operates the screwing mechanism 3 to make the clamping jaws 33 move through the sliding openings 32 to clamp the valve, ensuring that the valve is stably fixed and ready for screwing. Limit blocks 34 are fixed to the left ends of the three clamping jaws 33 and are respectively located inside the three fixing brackets 31. Once the valve is clamped, the drive motor 25 located outside the connection box 21 is started, and the driving bevel gear 27 meshes with the driven bevel gear 23. When the drive motor 25 rotates, through the gear transmission system, the rotation of the driving bevel gear 27 is transmitted to the driven bevel gear 23, thereby driving the screwing shaft tube 22 to rotate. The rotation of the screwing shaft tube 22 causes the clamping jaws 33 fixed thereon to rotate around the screwing part of the valve, realizing the opening or closing of the valve. Pulling ropes 35 are fixed to the outer sides of the three limit blocks 34, and a cylinder 36 is fixed to the inner wall of the screwing shaft tube 22. A pulling block 37 is fixed to the outer side of the output shaft of the cylinder 36, and the outer sides of the pulling block 37 are respectively fixed to the three pulling ropes 35. The design of the screwing shaft tube 22 allows it to continuously rotate in one direction until the valve reaches the required position. When the valve reaches the required screwing position, the drive motor 25 stops rotating, and the rotation of the screwing shaft tube 22 also stops, completing the screwing operation of the valve.

[0029] In this embodiment, three pulling sleeves 38 are fixed to the inner wall of the screwing shaft tube 22, and the three pulling ropes 35 are respectively slidably connected along the inner walls of the three pulling sleeves 38. The width of the clamping jaw 33 is equal to the distance between the inner walls on the front and rear sides of the sliding opening 32. The length of the limit block 34 is greater than the width of the clamping jaw 33. Valve clamping blocks are fixed to the inner sides of the three clamping jaws 33. Rope holes for the pulling ropes 35 to pass through are provided on the sides of the fixing brackets 31 opposite to the screwing shaft tube 22. After the operation is completed, the cylinder 36 acts to open the clamping jaws 33, release the valve, and the screwing mechanism 3 resets, ready for the next operation.

[0030] The working principle of the above embodiment is as follows:

[0031] (1) The manipulator 1 carries the positioning mechanism 2 to move to the position where the valve is located. Through the rotation of the screwing shaft tube 22 and the detection of the depth camera 28, the positioning mechanism 2 aligns with the screwing part of the valve. Through the meshing transmission of the drive motor 25 and the driving bevel gear 27 and the driven bevel gear 23, the position of the screwing shaft tube 22 is finely adjusted to ensure alignment with the screwing part of the valve. Once the positioning is accurate, the positioning mechanism 2 will be locked in place, ready for the screwing operation.

[0032] (2) The manipulator 1 operates the screwing mechanism 3, causing the jaws 33 to move through the sliding opening 32 and grip the valve, ensuring that the valve is stably fixed and ready for screwing. Once the valve is gripped, the drive motor 25 located outside the connection box 21 is activated, and the driving bevel gear 27 meshes with the driven bevel gear 23. When the drive motor 25 rotates, through the gear transmission system, the rotation of the driving bevel gear 27 is transmitted to the driven bevel gear 23, thereby driving the screwing shaft tube 22 to rotate. The rotation of the screwing shaft tube 22 causes the jaws 33 fixed thereon to rotate around the screwing part of the valve, achieving the opening or closing of the valve. The design of the screwing shaft tube 22 allows it to continuously rotate in one direction until the valve reaches the desired position. When the valve reaches the desired screwing position, the drive motor 25 stops rotating, and the rotation of the screwing shaft tube 22 also stops, completing the screwing operation of the valve. After the operation is completed, the cylinder 36 acts to open the jaws 33, release the valve, and the screwing mechanism 3 resets, ready for the next operation.

[0033] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the existence of additional identical elements in the process, method, article or device comprising the said element.

[0034] The standard parts used in this application document can all be purchased from the market, and can also be customized according to the description in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, welding, etc. that are mature in the prior art. The machines, parts and equipment all adopt conventional models in the prior art. The control method is to automatically control through a controller, and the control circuit of the controller can be realized by simple programming by those skilled in the art, which belongs to the common general knowledge in this field. Therefore, the control method and circuit connection will not be explained in detail in this application document.

[0035] Although the embodiments of the present utility model have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present utility model.

Claims

1. An emergency handling valve screwing device, comprising a manipulator (1), characterized in that: A positioning mechanism (2) for positioning valve screwing is provided at the front end of the manipulator (1), and a screwing mechanism (3) for clamping and screwing the valve is provided outside the positioning mechanism (2); The positioning mechanism (2) includes a connection box (21) fixed to the front end of the manipulator (1). The left inner wall of the connection box (21) is rotatably connected to a screwing shaft tube (22) through a bearing. A driven bevel gear (23) is fixed on the outer side of the screwing shaft tube (22) and inside the connection box (21). A protective box (24) is fixed to the outer side of the connection box (21). A driving motor (25) is fixed to the inner wall of the protective box (24). A connection shaft (26) is fixed to the outer side of the output shaft of the driving motor (25). The front end of the connection shaft (26) penetrates and extends into the connection box (21) and is fixed with a driving bevel gear (27), and the driving bevel gear (27) is meshed with the driven bevel gear (23). A depth camera (28) is fixed to the right end of the screwing shaft tube (22); The screwing mechanism (3) includes three fixing brackets (31) fixed to the outer side of the screwing shaft tube (22). A sliding opening (32) is formed in the right side of each of the three fixing brackets (31), and a clamping jaw (33) is slidably connected to the inner wall of each of the three sliding openings (32). A limiting block (34) located inside each of the three fixing brackets (31) is fixed to the left end of each of the three clamping jaws (33). A traction rope (35) is fixed to the outer side of each of the three limiting blocks (34). A cylinder (36) is fixed to the inner wall of the screwing shaft tube (22). A traction block (37) is fixed to the outer side of the output shaft of the cylinder (36), and the outer side of the traction block (37) is fixed to the three traction ropes (35) respectively.

2. The emergency treatment valve screwing device according to claim 1, characterized in that: A controller is fixed to the outer side of the manipulator (1).

3. An emergency treatment valve screwing device according to claim 1, characterized in that: A rotation hole is formed in the right side of the connection box (21), and the screwing shaft tube (22) is rotatably connected inside the rotation hole.

4. An emergency handling valve screwing device according to claim 1, characterized in that: The screwing shaft tube (22) is a hollow cylinder with both ends closed.

5. An emergency treatment valve screwing device according to claim 1, characterized in that: Three traction sleeves (38) are fixed to the inner wall of the screwing shaft tube (22), and the three traction ropes (35) are respectively slidably connected along the inner walls of the three traction sleeves (38).

6. The emergency processing valve screwing device according to claim 1, wherein: The width of the clamping jaw (33) is equal to the distance between the front and rear inner walls of the sliding opening (32), and the length of the limiting block (34) is greater than the width of the clamping jaw (33).

7. The emergency treatment valve screwing device according to claim 1, characterized in that: Valve blocks are fixed to the inner sides of the three clamping jaws (33), and rope holes for the traction ropes (35) to penetrate are formed in the sides of the fixing brackets (31) opposite to the screwing shaft tube (22).

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