阅读说明：本技术 高危流体介质存贮体间的连通装置 (Communication device between high-risk fluid medium storage bodies ) 是由 黄海松 侯耀斐 范青松 吕健 王子印 李林翰 王中禹 陈星燃 刘钰铭 于 2021-08-19 设计创作，主要内容包括：本发明公开了一种高危流体介质存贮体间的连通装置,包括：阀体；法兰接头上端固定在承接板上,法兰接头下端与阀体上端同轴上下对应；承接板上部固定有带动承接板进行移动的移动机构；移动机构安装在支撑架上获得支撑；承接板下部固定有带动锁紧螺母旋转的螺母紧固机构,锁紧螺栓过盈配合在阀体上端时,螺母紧固机构带动锁紧螺母旋转与锁紧螺栓自动旋合。实现法兰接头下端与阀体上端连通后的自身锁紧连通,解决了锥形导向套筒和锥形对接头对接后不能实现装置的自身锁紧问题,保证了连通装置密闭连通的稳定可靠性,避免高危流体介质在连通后稳定可靠性得不到保证容易造成安全事故的情况发生。(The invention discloses a communication device between high-risk fluid medium storage bodies, which comprises: a valve body; the upper end of the flange joint is fixed on the bearing plate, and the lower end of the flange joint coaxially corresponds to the upper end of the valve body up and down; the upper part of the bearing plate is fixed with a moving mechanism which drives the bearing plate to move; the moving mechanism is arranged on the support frame to obtain support; the lower part of the bearing plate is fixed with a nut fastening mechanism which drives the locking nut to rotate, and when the locking bolt is in interference fit with the upper end of the valve body, the nut fastening mechanism drives the locking nut to rotate and the locking bolt to automatically rotate. The self-locking communication of the lower end of the flange joint and the upper end of the valve body after communication is realized, the problem that the self-locking of the device cannot be realized after the conical guide sleeve and the conical butt joint are butted is solved, the stable reliability of the closed communication of the communication device is ensured, and the condition that the stable reliability of a high-risk fluid medium cannot be ensured to easily cause safety accidents after the communication is avoided.)

1. A device for communicating between high risk fluid medium reservoirs, comprising:

a valve body (13) fixedly communicated with a carriage (15) of the tank car, and a valve handle (14) for controlling the valve body (13) to open or close is arranged outside;

the upper end of the flange joint (6) is fixed on the bearing plate (5), and the lower end of the flange joint (6) is coaxially and vertically corresponding to the upper end of the valve body (13);

a moving mechanism (4) for driving the bearing plate (5) to move in the directions of a Z axis, a Y axis and an X axis is fixed at the upper part of the bearing plate (5), and the moving mechanism (4) realizes that a flange through hole at the lower end of the flange joint (6) is penetrated and correspondingly attached to a locking bolt (62) at the upper end of the valve body (13); the moving mechanism (4) is arranged on the support frame (3) to be supported;

the lower portion of the bearing plate (5) is fixedly provided with a nut fastening mechanism (7) which drives the locking nut (61) to rotate, when the locking bolt (62) is in interference fit with the upper end of the valve body (13), the nut fastening mechanism (7) drives the locking nut (61) to rotate and the locking bolt (62) to automatically and rotatably close, and self locking communication after the lower end of the flange joint (6) is communicated with the upper end of the valve body (13) is achieved.

2. The communication device between high-risk fluid medium reservoirs according to claim 1, wherein: the upper end of the valve body (13) is provided with a flange gasket (11) which is communicated with the flange joint (6) tightly, so that the sealing performance of the upper end of the valve body (13) and the lower end of the flange joint (6) after butt joint is improved.

3. The communication device between high-risk fluid medium reservoirs according to claim 1, wherein: the moving mechanism (4) comprises a connecting plate (410) fixed with the bearing plate (5); a Z-axis slider (409) fixed to the connecting plate (410); a screw (406) screwed with the threaded hole on the Z-axis sliding block (409); a Z-axis slide rail (408) which can be matched with the Z-axis slide block (409) in a sliding way; a Y-axis slider (404) fixed to the Z-axis slide rail (408); a moving mechanism motor (405) is fixed on the Y-axis sliding block (404), and an output shaft of the moving mechanism motor (405) is fixedly connected with the screw (406); a moving mechanism motor (405) drives a screw rod (406) to rotate, and under the sliding fit of a Z-axis sliding rail (408) and a Z-axis sliding block (409), the Z-axis sliding block (409) drives a connecting plate (410) to move up and down in the Z-axis direction;

the Y-axis sliding block (404) is in sliding fit with the Y-axis sliding rail (403), and the Y-axis sliding block (404) slides on the Y-axis sliding rail (403) to move, so that the moving mechanism (4) drives the bearing plate (5) to move along the Y axis; x-axis sliding blocks (402) are fixed at two ends of the Y-axis sliding rail (403), the X-axis sliding blocks (402) are in sliding fit with the X-axis sliding rail (401), and the X-axis sliding blocks (402) slide on the X-axis sliding rail (401) to move, so that the moving mechanism (4) drives the bearing plate (5) to move along the X axis; the X-axis sliding rail (401) is fixedly installed on the supporting frame (3), a driving piece for driving the Y-axis sliding block (404) to slide on the Y-axis sliding rail (403) is installed on the Y-axis sliding rail (403), and a driving piece for driving the X-axis sliding block (402) to slide on the X-axis sliding rail (401) is installed on the supporting frame (3).

4. The communication device between high-risk fluid medium reservoirs according to claim 3, wherein: the output shaft of the moving mechanism motor (405) is fixedly connected with the screw (406) through the anti-falling sleeve buckle (407), and the anti-falling sleeve buckle (407) prevents the screw (406) from falling off from the output shaft of the moving mechanism motor (405).

5. The communication device between high-risk fluid medium reservoirs according to claim 3, wherein: the nut fastening mechanism (7) comprises a sliding rail (704) fixed below the bearing plate (5); the sliding block (703) can be matched on the sliding rail (704) in a sliding way, and a driving piece for driving the sliding block (703) to slide up and down on the sliding rail (704) is arranged on the sliding rail (704); a fastening mechanism motor (701) is fixed on the sliding block (703), a nut inner barrel (706) is fixed on an output shaft of the fastening mechanism motor (701), a locking nut (61) is embedded in the nut inner barrel (706), and the fastening mechanism motor (701) is controlled to rotate, so that the locking nut (61) embedded in the nut inner barrel (706) is automatically screwed with a locking bolt (62) which is in interference fit with the upper end of the valve body (13).

6. The communication device between high risk fluid media reservoirs according to claim 5, wherein: a sliding block connecting piece (702) is fixed on the sliding block (703), and a fastening mechanism motor (701) is fixed on the sliding block connecting piece (702), so that the fastening mechanism motor (701) is fixedly arranged on the sliding block (703).

7. The communication device between high risk fluid medium reservoirs according to claim 1 or 5, wherein: the valve opening and closing mechanism (9) is mounted on the lower portion of the bearing plate (5) through the gear assembly (8), after the gear assembly (8) rotates to enable the valve opening and closing mechanism (9) to be aligned with the valve handle (14), the valve opening and closing mechanism (9) drives the valve handle (14) to rotate to achieve automatic control of opening or closing of the valve body (13).

8. The communication device between high risk fluid media reservoirs according to claim 7, wherein: the gear assembly (8) comprises a driving gear motor (801) fixed below the bearing plate (5); a driving gear (802) fixed with an output shaft of the driving gear motor (801); a driven gear (803) which is rotatably arranged at the lower part of the bearing plate (5) through a bearing and is meshed with the driving gear (802), and a valve switch mechanism (9) is arranged on the driven gear (803); when the driving gear motor (801) is electrified to rotate, the driving gear (802) drives the driven gear (803) to drive the valve switch mechanism (9) to rotate to be aligned with the valve handle (14).

9. The high risk fluid medium reservoir communication device of claim 8, wherein: the valve opening and closing mechanism (9) comprises a rotating circular ring (901) fixed on a driven gear (803), and the driven gear (803) drives the rotating circular ring (901) to rotate; a moving guide rod (902) matched with a notch on the rotating ring (901); the bearing plate (5) is provided with a driving piece for driving the movable guide rod (902) to be matched with and separated from the valve handle (14) in the groove opening; a detection camera (903) fixedly arranged in the middle of the movable guide rod (902); a valve switch motor (906) is fixedly installed at the lower end of the movable guide rod (902), a valve switch piece (904) is fixed at the output end of the valve switch motor (906), and a valve positioning camera (905) is installed inside the valve switch piece (904); the driven gear (803) drives the rotating ring (901) to rotate until the valve switch piece (904) is aligned with the valve handle (14), the driving piece drives the moving guide rod (902) to be matched with the valve handle (14) in the groove, and the valve switch motor (906) drives the valve switch piece (904) to drive the valve handle (14) to rotate.

10. The communication device between high risk fluid media reservoirs according to claim 9, wherein: the lower part of the bearing plate (5) is provided with a bolt positioning camera (10), and the moving mechanism (4) drives the bearing plate (5) to align a flange through hole at the lower end of the flange joint (6) with a locking bolt (62) at the upper end of the valve body (13) through observation of the bolt positioning camera (10) when the X axis and the Y axis move.

Technical Field

The invention relates to a communication device between high-risk fluid medium storage bodies, belonging to the technical field of communication devices.

Background

After the production of chemical production plants is completed, such high-risk fluid media are generally stored in storage tanks, and after the high-risk fluid media are sold, the high-risk fluid media need to be transported to the storage tanks of selling places by using tank cars; when the storage of the tank car needs to be communicated with a storage tank for storing high-risk fluid media, the tank car needs to be communicated quickly and safely by using a pipeline, a valve body and other communication devices, and at present, the butt joint and communication operation is mainly carried out manually, once the high-risk fluid media leak, operators easily inhale toxic and corrosive media, and safety accidents such as death and the like can be caused.

Although an automatic butt joint pipe joint device disclosed in chinese patent publication No. CN108561651A can realize automatic butt joint of pipelines, after the tapered guide sleeve and the tapered butt joint are butted, self-locking of the device cannot be realized, and the stable reliability of the sealed communication of the device cannot be ensured.

Disclosure of Invention

In order to solve the technical problem, the invention provides a communication device between high-risk fluid medium storage bodies.

The invention is realized by the following technical scheme.

The invention provides a communication device between high-risk fluid medium storage bodies, which comprises:

the valve body is fixedly communicated with the carriage of the tank car, and a valve handle for controlling the valve body to open or close is arranged outside; the upper end of the flange joint is fixed on the bearing plate, and the lower end of the flange joint is coaxial and corresponds to the upper end of the valve body up and down; the upper part of the bearing plate is fixedly provided with a moving mechanism which drives the bearing plate to move in the directions of a Z axis, a Y axis and an X axis, and the moving mechanism realizes that a flange through hole at the lower end of the flange joint is penetrated and correspondingly attached with a locking bolt at the upper end of the valve body; the moving mechanism is arranged on the support frame to be supported; the lower part of the bearing plate is fixed with a nut fastening mechanism which drives the locking nut to rotate, and when the locking bolt is in interference fit with the upper end of the valve body, the nut fastening mechanism drives the locking nut to rotate and the locking bolt to automatically rotate.

The flange gasket is installed on the upper end of the valve body and is communicated with the flange joint tightly, and the sealing performance of the upper end of the valve body and the lower end of the flange joint after butt joint is improved.

The moving mechanism comprises a connecting plate fixed with the bearing plate;

the Z-axis sliding block is fixed with the connecting plate;

the screw is screwed with the threaded hole on the Z-axis sliding block;

the Z-axis slide rail can be in sliding fit with the Z-axis slide block;

a Y-axis sliding block fixed with the Z-axis sliding rail;

a moving mechanism motor is fixed on the Y-axis sliding block, and an output shaft of the moving mechanism motor is fixedly connected with the screw rod; the moving mechanism motor drives the screw rod to rotate, and the Z-axis sliding block drives the connecting plate to move up and down in the Z-axis direction under the sliding fit of the Z-axis sliding rail and the Z-axis sliding block;

the Y-axis sliding block can be in sliding fit with the Y-axis sliding rail, and the Y-axis sliding block slides and moves on the Y-axis sliding rail, so that the moving mechanism drives the bearing plate to move along the Y axis;

x-axis sliding blocks are fixed at two ends of the Y-axis sliding rail respectively and can be in sliding fit with the X-axis sliding rail, and the X-axis sliding blocks slide and move on the X-axis sliding rail, so that the moving mechanism drives the bearing plate to move along the X axis;

the X-axis slide rail is fixedly arranged on the support frame, the driving piece for driving the Y-axis slide block to slide on the Y-axis slide rail is arranged on the Y-axis slide rail, and the driving piece for driving the X-axis slide block to slide on the X-axis slide rail is arranged on the support frame.

The output shaft of the moving mechanism motor is fixedly connected with the screw rod through the anti-falling sleeve buckle, and the anti-falling sleeve buckle prevents the screw rod from falling off from the output shaft of the moving mechanism motor.

The nut fastening mechanism comprises a slide rail fixed below the bearing plate; the sliding block can be matched on the sliding rail in a sliding way, and a driving piece for driving the sliding block to slide up and down on the sliding rail is arranged on the sliding rail; a fastening mechanism motor is fixed on the sliding block, a nut inner cylinder is fixed on an output shaft of the fastening mechanism motor, a locking nut is embedded in the nut inner cylinder, and the locking nut embedded in the nut inner cylinder is automatically screwed with a locking bolt in interference fit at the upper end of the valve body by controlling the fastening mechanism motor to rotate; the lower end of the flange joint is in coaxial butt joint with the valve body and is locked and communicated with the valve body.

A sliding block connecting piece is fixed on the sliding block, a fastening mechanism motor is fixed on the sliding block connecting piece, and the fastening mechanism motor is fixedly installed on the sliding block.

The valve opening and closing mechanism is arranged on the lower portion of the bearing plate through a gear assembly, and after the gear assembly rotates to enable the valve opening and closing mechanism to be aligned with the valve handle, the valve opening and closing mechanism drives the valve handle to rotate to achieve automatic control of opening or closing of the valve body.

The gear assembly comprises a driving gear motor fixed below the bearing plate; the driving gear is fixed with an output shaft of the driving gear motor; the driven gear is rotatably arranged at the lower part of the bearing plate through a bearing and is meshed with the driving gear, and the valve switching mechanism is arranged on the driven gear; when the driving gear motor is electrified and rotated, the driving gear drives the driven gear to drive the valve switching mechanism to rotate and align with the valve handle.

The valve opening and closing mechanism comprises a rotating circular ring fixed on a driven gear, and the driven gear drives the rotating circular ring to rotate; a movable guide rod matched with the notch on the rotary ring; the bearing plate is provided with a driving piece which drives the movable guide rod to be matched and separated with and from the valve handle in the groove; the detection camera is fixedly arranged in the middle of the movable guide rod and is used for detecting whether the locking nut and the locking bolt are screwed down or not; the lower end of the movable guide rod is fixedly provided with a valve switch motor, the output end of the valve switch motor is fixedly provided with a valve switch piece, and a valve positioning camera for determining the position of the valve is arranged in the valve switch piece; the driven gear drives the rotating circular ring to rotate until the valve switch part is aligned with the valve handle, the driving part drives the movable guide rod to be matched with the valve handle in the groove, and the valve switch motor drives the valve switch part to drive the valve handle to rotate so as to automatically control the valve body to be opened or closed.

The lower part of the bearing plate is provided with a bolt positioning camera, and the moving mechanism drives the bearing plate to align the flange connecting hole at the lower end of the flange joint with the locking bolt on the valve body through the observation of the bolt positioning camera when the bearing plate moves in the X axis and the Y axis.

The invention has the beneficial effects that: the moving mechanism is arranged on the support frame to be supported; the lower portion of the bearing plate is fixedly provided with a nut fastening mechanism which drives a locking nut to rotate, when the locking bolt is in interference fit with the upper end of the valve body, the nut fastening mechanism drives the locking nut to rotate and the locking bolt to automatically and rotatably close, self locking communication is achieved after the lower end of the flange joint is communicated with the upper end of the valve body, the problem that self locking of the device cannot be achieved after the conical guide sleeve and the conical butt joint are butted is solved, the stable reliability of airtight communication of the communication device is guaranteed, and the situation that high-risk fluid media cannot guarantee safety accidents to be easily caused after communication is avoided.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the moving mechanism of the present invention in use;

FIG. 3 is a schematic structural view of the nut tightening mechanism of the present invention in use 1;

FIG. 4 is a schematic structural view of the nut tightening mechanism of the present invention in use 2;

FIG. 5 is a schematic view of the gear assembly of the present invention in use;

fig. 6 is a schematic structural view of the valve opening and closing mechanism of the present invention in a use state.

In the figure: 1-a storage tank; 2-a pipeline; 3-a support frame; 4-a moving mechanism; 401-X axis slide rail; 402-X axis slide; 403-Y axis slide rail; 404-Y axis slide; 405-a moving mechanism motor; 406-a screw; 407-anti-drop sleeve button; 408-Z axis slide rail; 409-Z axis slide block; 410-a connecting plate; 5-bearing plate; 6-flange joint; 61-locking nut; 62-a locking bolt; 7-a nut tightening mechanism; 701-fastening mechanism motor; 702-a slider connection; 703-a slide block; 704-a slide rail; 706-nut inside barrel; 8-a gear assembly; 801-driving gear motor; an 802-drive gear; 803-driven gear; 9-valve switching mechanism; 901-rotating the ring; 902-moving the guide bar; 903-detection camera; 904-valve switch; 905-valve positioning camera; 906-valve switching motor; 10-bolt positioning camera; 11-flange gasket; 13-a valve body; 14-valve handle; 15-compartment.

Detailed Description

The technical solution of the present invention is further described below, but the scope of the claimed invention is not limited to the described.

As shown in fig. 1-6.

The invention relates to a communication device between high-risk fluid medium storage bodies, which comprises:

when in use, the lower end of the valve body 13 is fixedly communicated with a carriage 15 of the tank car, a valve handle 14 for controlling the valve body 13 to open or close is arranged outside, and the valve body 13 is a swing check valve or a manual ball valve for example;

through the flange joint 6 of pipeline 2 and storage jar 1 intercommunication, the flange joint 6 upper end is fixed on accepting the board 5, and the coaxial upper and lower correspondence of flange joint 6 lower extreme and valve body 13 upper end is closed through lock nut 61 and locking bolt 62 soon, realizes the self locking intercommunication behind flange joint 6 lower extreme and the valve body 13 upper end intercommunication.

The flange gasket 11 is installed at the upper end of the valve body 13 and is communicated with the flange joint 6 tightly, and the sealing performance of the upper end of the valve body 13 and the lower end of the flange joint 6 after butt joint is improved.

The upper part of the bearing plate 5 is fixed with a moving mechanism 4 which drives the bearing plate 5 to move in the directions of Z axis, Y axis and X axis, and the moving mechanism 4 realizes the penetration and corresponding attachment of a flange through hole at the lower end of the flange joint 6 and a locking bolt 62 at the upper end of the valve body 13; the moving mechanism 4 is arranged on the support frame 3 to be supported, and the support frame 3 is fixed and suspended at a proper place position when in use, so that the carriage 15 can enter and exit below the support frame 3.

The moving mechanism 4 comprises an L-shaped connecting plate 410 fixed with the bearing plate 5 by adopting a bolt; a Z-axis slider 409 welded and fixed with the connecting plate 410; a screw 406 screwed with the threaded hole on the Z-axis slide block 409; a Z-axis slide rail 408 slidably engaged with the Z-axis slide block 409; a Y-axis slider 404 welded to the Z-axis slide rail 408 by a connecting member; a moving mechanism motor 405 is fixedly welded on a connecting piece welded with the Y-axis sliding block 404, an output shaft of the moving mechanism motor 405 is fixedly connected with the screw 406 through an anti-falling sleeve buckle 407, and the anti-falling sleeve buckle 407 prevents the screw 406 from falling off from the output shaft of the moving mechanism motor 405; a moving mechanism motor 405 drives a screw 406 to rotate, and under the sliding fit of a Z-axis slide rail 408 and a Z-axis slide block 409, the Z-axis slide block 409 drives a connecting plate 410 to move up and down in the Z-axis direction;

the Y-axis sliding block 404 and the Y-axis sliding rail 403 can be matched in a sliding mode, and the Y-axis sliding block 404 slides on the Y-axis sliding rail 403 to move so that the moving mechanism 4 drives the bearing plate 5 to move along the Y axis;

the X-axis sliding block 402 is fixedly welded at two ends of the Y-axis sliding rail 403, the X-axis sliding block 402 is in sliding fit with the X-axis sliding rail 401, and the X-axis sliding block 402 slides on the X-axis sliding rail 401 to move, so that the moving mechanism 4 drives the bearing plate 5 to move along the X axis;

the X-axis slide rail 401 is fixedly mounted on the support frame 3, the drive component for driving the Y-axis slide block 404 to slide on the Y-axis slide rail 403 is fixedly mounted on the support frame 3 or the Y-axis slide rail 403, the drive component for driving the X-axis slide block 402 to slide on the X-axis slide rail 401 is fixedly mounted on the support frame 3 or the X-axis slide rail 401, which is not identified in the drawing, and the drive component can be a telescopic air rod or a telescopic electric rod, etc. which can perform displacement.

The lower portion of the bearing plate 5 is fixed with a nut fastening mechanism 7 which drives a locking nut 61 to rotate, when the locking bolt 62 is in interference fit with the upper end of the valve body 13, the nut fastening mechanism 7 drives the locking nut 61 to rotate and automatically and rotatably close the locking bolt 62, self locking communication after the lower end of the flange joint 6 is communicated with the upper end of the valve body 13 is achieved, the problem that self locking of the device cannot be achieved after the conical guide sleeve and the conical butt joint are in butt joint is solved, the stable reliability of closed communication of the communication device is guaranteed, the situation that high-risk fluid media cannot be guaranteed to easily cause safety accidents after being communicated is avoided, and when the locking nut 61 and the locking bolt 62 are rotated away, the lower end of the flange joint 6 is coaxially disconnected with the upper end of the valve body 13 at intervals.

The nut fastening mechanism 7 comprises a slide rail 704 fixed on the lower part of the bearing plate 5 through a bolt component; a sliding block 703 capable of being slidably fitted on the sliding rail 704, and a driving member (not shown) for driving the sliding block 703 to slide up and down on the sliding rail 704 is mounted on the sliding rail 704, and the driving member may be a telescopic pneumatic rod or a telescopic electric rod or other prior art capable of performing displacement; a slider connecting piece 702 is welded and fixed on the slider 703, a fastening mechanism motor 701 is fixed on the slider connecting piece 702, a nut inner barrel 706 is welded and fixed on an output shaft of the fastening mechanism motor 701 motor, a locking nut 61 is embedded in the nut inner barrel 706, the fastening mechanism motor 701 is controlled to rotate, so that the locking nut 61 embedded in the nut inner barrel 706 is automatically screwed with a locking bolt 62 which is in interference fit with the upper end of the valve body 13, the lower end of the flange joint 6 is coaxially butted with the valve body 13 to realize self locking communication, then, a driving piece drives the slider 703 to ascend and reset, and when the locking nut 61 is screwed off from the locking bolt 62, the lower end of the flange joint 6 is coaxially spaced with the upper end of the valve body 13.

The valve switch mechanism 9 is arranged on the lower portion of the bearing plate 5 through the gear assembly 8, after the gear assembly 8 rotates to enable the valve switch mechanism 9 to be aligned with the valve handle 14, the valve switch mechanism 9 drives the valve handle 14 to rotate to achieve automatic control of opening or closing of the valve body 13.

The gear assembly 8 comprises a driving gear motor 801 fixed at the lower part of the bearing plate 5; a driving gear 802 fixed to an output shaft of the driving gear motor 801; a driven gear 803 rotatably mounted on the lower portion of the receiving plate 5 via a bearing and engaged with the driving gear 802, and a valve opening and closing mechanism 9 mounted on the driven gear 803; when the driving gear motor 801 is energized to rotate, the driving gear 802 drives the driven gear 803 to drive the valve opening and closing mechanism 9 to rotate to align with the valve handle 14, and then the valve opening and closing mechanism 9 drives the valve handle 14 to rotate to automatically control the opening or closing of the valve body 13.

The valve opening and closing mechanism 9 comprises a rotating circular ring 901 welded and fixed on a driven gear 803, and the driven gear 803 drives the rotating circular ring 901 to rotate for 360 degrees; a movable guide rod 902 matched with the notch on the rotating ring 901, a driving piece for driving the movable guide rod 902 to be matched with and separated from the valve handle 14 in the notch is arranged on the bearing plate 5, and the driving piece is an electric telescopic rod or a pneumatic telescopic rod and the like; a detection camera 903 fixedly installed in the middle of the movable guide rod 902, wherein the detection camera 903 is used for detecting whether the locking nut 61 and the locking bolt 62 are screwed or not; a valve switch motor 906 is fixedly arranged at the lower end of the movable guide rod 902, a valve switch piece 904 is fixed at the output end of the valve switch motor 906, and a valve positioning camera 905 for determining the position of the valve is arranged in the valve switch piece 904; the driven gear 803 drives the rotating ring 901 to rotate until the valve switch piece 904 is aligned with the valve handle 14, the driving piece drives the moving guide rod 902 to be matched with the valve handle 14 in the groove, the valve switch motor 906 drives the valve switch piece 904 to drive the valve handle 14 to rotate so as to realize the automatic control of opening or closing the valve body 13, and after the valve handle 14 rotates to control the opening of the valve body 13, the driving piece drives the moving guide rod 902 to reset.

The lower part of the bearing plate 5 is provided with a bolt positioning camera 10, and when the moving mechanism 4 drives the bearing plate 5 to move in the X axis and the Y axis, the flange connecting hole at the lower end of the flange joint 6 is aligned with the locking bolt 62 on the valve body 13 through the observation of the bolt positioning camera 10.