CN111928005B

CN111928005B - Intelligent control system and method for opening and closing valve

Info

Publication number: CN111928005B
Application number: CN202010719423.4A
Authority: CN
Inventors: 孙健军; 兰田风; 李治军
Original assignee: HENAN YIHE CHENGBAO EQUIPMENT TECHNOLOGY INDUSTRIAL CO LTD
Current assignee: HENAN YIHE CHENGBAO EQUIPMENT TECHNOLOGY INDUSTRIAL CO LTD
Priority date: 2020-07-23
Filing date: 2020-07-23
Publication date: 2022-04-01
Anticipated expiration: 2040-07-23
Also published as: CN111928005A

Abstract

The invention discloses a valve opening and closing intelligent control system and a method, wherein the valve opening and closing intelligent control system comprises a mobile execution device, a control module connected with the mobile execution device, and a feedback module which is arranged on a driving mechanism of the mobile execution device and used for collecting motion data of the driving mechanism, wherein the feedback module is in signal interconnection with the control module; the movable executing device comprises a movable trolley, a V-shaped clamping inlet is formed in the bottom of the movable trolley, a capturing mechanism is arranged above the V-shaped clamping inlet, a driving mechanism used for driving a main shaft of a valve speed reducer to rotate is arranged in the movable trolley, and the capturing mechanism is used for capturing the driving mechanism; the large-scale valve opening and closing device is compact in structure and convenient and fast to operate, can quickly open and close the large-scale valve, and avoids the problems of high working strength, long consumed time and easiness in causing a large amount of fluid leakage caused by the mode of manually rotating the input shaft of the speed reducer.

Description

Intelligent control system and method for opening and closing valve

Technical Field

The invention relates to the technical field of large pipeline valve speed reducer operating tools, in particular to a valve opening and closing intelligent control system and method.

Background

The large pipeline is used as a conveying carrier for bearing large-flow fluid, can reduce the conveying cost of a large amount of fluid, conveys the fluid to each area to be conveyed, and then disperses the fluid to each supply point, however, when large-flow fluid is supplied, because the pipeline is longer and has more branches, in order to ensure the safety of large pipeline transportation, a plurality of valves for closing are arranged on the pipeline, however, because most of the large pipeline has high flow rate and large flow, the valve has larger volume and mass and can meet great resistance when being opened and closed, meanwhile, because the valve is opened and closed frequently, the valve can be opened and closed only when needing to be opened and closed or sudden situations occur, but because the valve has larger mass and has the phenomenon of fluid impact, the opening and closing of the valve need to be controlled by a speed reducer matched with the valve, in the prior art, the input shaft of the speed reducer is often manually rotated to be opened and closed, need four at least people to open and close by adopting the mode of pushing away the mill, need rotate 8000-.

Disclosure of Invention

In view of the above, the invention provides an intelligent control system and method for opening and closing a valve, which are compact in structure and convenient to operate, can quickly open and close a large-sized valve, and avoid the problems of high working strength, long time consumption and easiness in causing a large amount of fluid leakage caused by a mode of manually rotating an input shaft of a speed reducer.

In order to achieve the purpose, the invention provides an intelligent control system for opening and closing a valve, which comprises a mobile execution device, a control module connected with the mobile execution device, and a feedback module arranged on a driving mechanism of the mobile execution device and used for collecting motion data of the driving mechanism, wherein the feedback module is in signal interconnection with the control module;

the movable executing device comprises a movable trolley, a V-shaped clamping inlet is formed in the bottom of the movable trolley, a capturing mechanism is arranged above the V-shaped clamping inlet, a driving mechanism used for driving a main shaft of a valve speed reducer to rotate is arranged in the movable trolley, and the capturing mechanism is used for capturing the driving mechanism;

the driving mechanism comprises a rotary power module, an output shaft of the rotary power module is connected with a first prism through a universal connection module, the first prism is slidably sleeved with an adjusting cylinder matched with the first prism, the length of the adjusting cylinder is longer than that of the first prism, the adjusting cylinder is internally and slidably inserted below the first prism and provided with a second prism matched with the first prism, the lower end of the second prism extends out of the adjusting cylinder, the lower end of the second prism is slidably sleeved with a sleeve matched with the second prism, an upper inner hole of the sleeve is matched with the second prism, and the cross section shape of the lower inner hole of the sleeve is consistent with the shape of the end of a central shaft of the valve speed reducer.

Furthermore, a plurality of adjusting holes are formed in the adjusting cylinder body in a penetrating manner along the diameter direction, the adjusting holes are distributed along the axial direction of the adjusting cylinder body, a fixing hole is formed in the upper portion of the second prism body, the fixing hole corresponds to one of the adjusting holes and penetrates through a fastener to fix the second prism body and the adjusting cylinder body, and the installation height of the second prism body relative to the adjusting cylinder body is adjusted according to the height of the adjusting hole selected and inserted by the fastener.

Further, the fastener adopts a bolt-nut assembly, a screw-nut assembly or a bolt assembly.

Further, the number of the adjusting holes is 1-10.

Further, the universal connection module is including setting up first installation barrel on the output shaft of rotatory power module, the lower extreme of first installation barrel articulates there is second installation barrel, many first keyways have been seted up along the axial on the inner wall of second installation barrel, and whole first keyways are circumference evenly distributed and are in on the circumference inner wall of second installation barrel, it is equipped with the sliding shaft to insert in the second installation barrel, set up on the periphery of sliding shaft with first keyway matched with first key body, the lower extreme of sliding shaft articulates there is third installation barrel, the cross section of the hole of third installation barrel is the polygon, it is equipped with rather than matched with first prism to slide to insert in the hole of third installation barrel.

Furthermore, a plurality of second key grooves are axially formed in the outer surface of the output shaft of the rotary power module, all the second key grooves are circumferentially and uniformly distributed on the circumferential surface of the output shaft, and a second key body matched with the second key grooves is axially arranged on the inner wall of the first mounting cylinder.

Further, the width of the second key groove is 1.1-1.5 times of the width of the second key body.

Further, the number of the second key grooves is 5-12.

Further, the cross section of the inner hole of the third mounting cylinder body is a triangle, a quadrangle, a pentagon, a hexagon, a heptagon or an octagon.

Further, the rotary power module adopts an electric motor, a hydraulic motor or a pneumatic motor.

The positioning unit comprises a span adjusting mechanism and a positioning mechanism, the span adjusting mechanism is placed on a valve wellhead in a spanning mode, the positioning mechanism is arranged on the span adjusting mechanism in a sliding mode, and a positioning hole for positioning a main shaft operating rod of the valve speed reducer is formed in the middle of the positioning mechanism; the span adjusting mechanism comprises a pair of cylinders which are arranged in parallel, two ends of each cylinder are connected through a first connecting rod, an adjusting rod matched with the inside of each cylinder is inserted in a sliding mode, the outer ends of the two adjusting rods are connected through a second connecting rod, and the cylinders and the adjusting rods which are inserted in the cylinders in a sliding mode are locked through first locking modules; the positioning mechanism comprises sliding sleeves, the sliding sleeves are sleeved on each barrel body, the two sliding sleeves are connected through a pair of third connecting rods, positioning holes for positioning the valve speed reducer spindle operating rod are reserved between the pair of third connecting rods, and the sliding sleeves are locked through a second locking module.

Further, first locking module is including seting up the first locking hole in the inner outside of barrel, set up first boss on the first locking hole, set up on the first boss with the first screw hole that first locking hole is linked together, first screw hole female connection has first locking pole.

Further, the cross section of the inner cavity of the cylinder body is circular, square, pentagonal, hexagonal, heptagonal or octagonal.

Furthermore, a fourth connecting rod is arranged between two end parts of the pair of third connecting rods respectively, and the pair of third connecting rods and the pair of fourth connecting rods are enclosed together to form the square positioning hole.

Furthermore, a fifth connecting rod is arranged between the outer ends of the two adjusting rods and positioned on the inner side of the second connecting rod.

Further, a rotary operation module is arranged at the outer end of the first locking rod, and the rotary operation module adopts a polygonal convex block or a polygonal hole.

Further, the second locking module comprises a second locking hole formed in the outer side of the sliding sleeve, a second reinforcing block is arranged on the second locking hole, a second threaded hole communicated with the second locking hole is formed in the second reinforcing block, and a second locking rod is connected to the second threaded hole in a threaded manner.

Furthermore, the outer end of the second locking rod is provided with a rotating operation module, and the rotating operation module adopts a polygonal convex block or a polygonal hole.

Further, catch the mechanism and include the mounting panel, V type guiding groove is seted up to the front side of mounting panel, the corner position of V type guiding groove is seted up and is used for the card to establish the seizure hole of valve action bars, just be located on the mounting panel the both sides in seizure hole with the central line of V type guiding groove is the symmetry for the line of symmetry and is provided with a pair of catching module, and a pair of catching module mutually supports and constitutes a complete mechanism of catching for establishing the card catches actuating mechanism in the seizure hole.

Further, the module of catching includes that it is in to rotate the setting through the pivot the seizure board on the mounting panel, it is provided with two gyro wheels to rotate on the seizure board, the inner of gyro wheel stretches into the inboard of seizure board, the centre of a circle of the inscribed circle of four gyro wheels is located when valve action bars is caught to a pair of module of catching the center of catching the hole.

Furthermore, the connecting line of the two rotating shafts on the pair of catching modules is positioned on one diameter line of the catching hole.

Further, the outer ends of the two catching plates of the pair of catching modules are connected through an elastic piece.

Further, the elastic element is a spring or a rubber band.

Furthermore, the catching holes are circular holes, or rectangular holes, or pentagonal holes, or hexagonal holes, or heptagonal holes, or octagonal holes.

Further, the bottom of mounting panel just is located the below position of catching the module is provided with and is used for locking the locking unit of seizure board, the locking unit is including setting up the automatic telescoping cylinder of the bottom of mounting panel, seted up on the mounting panel and allowed the telescopic link of automatic telescoping cylinder passes and tightly is in with the top first perforation on the seizure board, after the seizure of valve action bars is accomplished to a pair of seizure module, the telescopic link of automatic telescoping cylinder passes first perforation and top tightly are in on the seizure board, in order to play the locking the effect of seizure board.

Furthermore, a second through hole is formed in the catching plate, and after the pair of catching modules catch the valve operating rod, the telescopic rod of the automatic telescopic cylinder penetrates through the first through hole and is inserted into the second through hole, so that the catching plate is locked.

Furthermore, the inner side of the catching plate is provided with a notch which is prevented from contacting with the outer surface of the valve operating rod.

Further, the automatic telescopic cylinder is a pneumatic telescopic cylinder, or an electric telescopic cylinder, or a hydraulic telescopic cylinder.

Further, the travelling car includes the frame body, the front end bottom of frame body sets up V-arrangement card entry, on the frame body and be located the both sides of V-arrangement card entry are rotated respectively and are set up a side door, the front end of two side doors and be located V-arrangement card entry rear side the two angles of frame body are respectively along vertical lift post that sets up, and the bottom of every lift post all is provided with the walking wheel, and the inboard of every side door is all rotated and is connected the one end at an automatic telescopic link, the other end of automatic telescopic link is fixed to be set up inside the frame body.

Furthermore, the automatic telescopic rod adopts a pneumatic telescopic rod, an electric telescopic rod or a hydraulic telescopic rod.

Furthermore, a V-shaped protection plate is vertically arranged in the frame body and at the rear position of the V-shaped clamping inlet.

Furthermore, a front door is rotatably arranged at the top of the front side of the frame body.

Furthermore, a lifting ring is arranged at the top of the frame body.

In addition, the invention also provides an intelligent control method for opening and closing the valve, which comprises the following steps:

s1: after the mobile execution device is set, the control module controls the driving mechanism to slowly pressurize so that the output shaft rotates, so that the valve speed reducer is driven to rotate, when the reduction of oil pressure or voltage or air pressure data in the control module is detected and the feedback module detects that the rotating speed of the driving mechanism is stable, the rotating speed of the driving mechanism is continuously and slowly increased, and the oil pressure or voltage or air pressure data is proportionally increased;

s2: after the acceleration of T1 time, the stable driving stage is entered after the set number of turns or rotating speed is reached;

s3: after the stable driving stage in the time of T2, the oil pressure or voltage or air pressure is gradually reduced through the control module to enter the slow deceleration locking stage, and after the deceleration in the time of T3, the valve stops working after reaching the set number of turns, and the opening and closing operation of the valve is completed.

Further, when it is detected in S1 that the oil pressure or voltage or air pressure data in the control module is not reduced and the feedback module detects that the rotation speed of the output shaft in the driving mechanism is stable, the rotation speed of the driving mechanism is kept unchanged for 5-10S, the rotation speed of the output shaft is slowly increased, whether the oil pressure or voltage or air pressure data has an excessive fluctuation or not is observed, and if the oil pressure or voltage or air pressure data does not have an excessive fluctuation, the rotation speed of the output shaft is continuously increased.

Further, if the excessive fluctuation of the oil pressure or the voltage or the air pressure data occurs, the rotating speed is reduced to the rotating speed before the excessive fluctuation does not occur, after the rotation speed is stabilized for 10-15S, the rotating speed of the output shaft is slowly increased, whether the excessive fluctuation of the oil pressure or the voltage or the air pressure data occurs or not is observed, if the excessive fluctuation of the oil pressure or the voltage or the air pressure data does not occur, the rotating speed of the output shaft is continuously increased, and if the excessive fluctuation of the oil pressure or the voltage or the air pressure data occurs, the step is repeated.

Further, the feedback module includes a counter, an oil pressure sensor/voltage sensor/pressure sensor.

Further, the control module adopts a computer.

Further, T2 ≧ T1+ T3, T1+ T2+ T3=6 to 20 minutes, and the drive mechanism rotates 8000 to 10000 revolutions in total within a time of T1+ T2+ T3.

The technical scheme of the invention has the following beneficial effects: the invention aims at the technical problems that in the prior art, for the opening and closing of a large pipeline, the input shaft of a speed reducer is usually manually rotated to open and close, at least four persons are required to open and close in a group in a grinding mode, and the valve is opened or closed once according to calculation and needs to be rotated by 8000-. The intelligent control system for opening and closing the valve comprises a mobile execution device, a control module connected with the mobile execution device, and a feedback module which is arranged on a driving mechanism of the mobile execution device and used for collecting motion data of the driving mechanism, wherein the feedback module is in signal interconnection with the control module; the movable executing device comprises a movable trolley, a V-shaped clamping inlet is formed in the bottom of the movable trolley, a capturing mechanism is arranged above the V-shaped clamping inlet, a driving mechanism for driving a main shaft of a valve speed reducer to rotate is arranged in the movable trolley, and the capturing mechanism is used for capturing the driving mechanism; the driving mechanism comprises a rotary power module, an output shaft of the rotary power module is connected with a first prism through a universal connection module, the first prism is slidably sleeved with an adjusting cylinder matched with the first prism, the length of the adjusting cylinder is longer than that of the first prism, the inner portion of the adjusting cylinder is located below the first prism, a second prism matched with the first prism is inserted in a sliding mode, the lower end portion of the second prism extends out of the adjusting cylinder, a sleeve matched with the second prism is slidably sleeved at the lower end portion of the second prism, an upper inner hole of the sleeve is matched with the second prism, and the cross section shape of the lower inner hole of the sleeve is consistent with the shape of the end of a central shaft of the valve speed reducer. After the driving mechanism adopts the structure, the automatic rotation of the main shaft of the valve speed reducer can be realized so as to improve the operation efficiency, the impact on the main shaft of the valve speed reducer in the rotary driving process can be reduced, and meanwhile, the automatic rotation driving mechanism can also be suitable for the valve speed reducers in different valve well depths.

In addition, the positioning device also comprises a positioning unit for positioning the driving mechanism, wherein the positioning unit comprises a span adjusting mechanism and a positioning mechanism, the span adjusting mechanism is arranged on a valve wellhead in a spanning manner, the positioning mechanism is arranged on the span adjusting mechanism in a sliding manner, and the middle part of the positioning mechanism is provided with a positioning hole for positioning a main shaft operating rod of the valve speed reducer; the span adjusting mechanism comprises a pair of cylinders which are arranged in parallel, two ends of each cylinder are connected through a first connecting rod, an adjusting rod matched with the inside of each cylinder is inserted in a sliding mode, the outer ends of the two adjusting rods are connected through a second connecting rod, and the cylinders and the adjusting rods which are inserted in the cylinders in a sliding mode are locked through first locking modules; the positioning mechanism comprises sliding sleeves, the sliding sleeves are sleeved on each barrel body, the two sliding sleeves are connected through a pair of third connecting rods, positioning holes for positioning the valve speed reducer spindle operating rod are reserved between the pair of third connecting rods, and the sliding sleeves are locked through a second locking module. After the positioning unit adopts the structure, the coordinate positioning can be provided for the main shaft operating rod of the quick valve speed reducer, so that the main shaft operating rod of the valve speed reducer is prevented from deviating and even being separated from the main shaft of the valve speed reducer when rotating, span adjustment can be performed through the span adjusting mechanism, the requirements for valve wellheads with different calibers are met, and the application range is wide. When the positioning unit 4000 is used, firstly, the first locking module is loosened, the extending length of the adjusting rod in the span adjusting mechanism is adjusted according to the diameter of the valve wellhead, so that the span adjusting mechanism can be placed on the upper edge of the valve wellhead in a spanning mode, and after the span adjusting mechanism is adjusted, the two adjusting rods are respectively locked in the corresponding cylinders by using the first locking module; then, the second locking module is loosened, the position of the positioning mechanism is adjusted according to the position of the main shaft of the valve speed reducer, so that the positioning hole in the positioning mechanism is just positioned right above the end part of the main shaft of the valve speed reducer, then the second locking module is locked, then the operating rod of the main shaft of the valve speed reducer is inserted into the positioning hole, the lower end of the operating rod is sleeved at the end part of the main shaft of the valve speed reducer, then the main shaft of the valve speed reducer can be rotated through rotating the operating rod, and therefore the operation of closing and opening the valve is achieved.

In addition, catch the mechanism and include the mounting panel, V type guiding groove is seted up to the front side of mounting panel, the hole of catching that is used for the card to establish the valve action bars is seted up in the corner position of V type guiding groove, just be located on the mounting panel the both sides in catching the hole with the central line of V type guiding groove is the symmetry for the line of symmetry and is provided with a pair of catching module, and a pair of catching module is mutually supported and is constituteed a complete mechanism of catching for establishing the card catch actuating mechanism in the catching hole. After the catching mechanism adopts the structure, the automatic catching and locking of the operating rod of the main shaft of the valve speed reducer can be realized, the phenomenon that the operating rod swings or even slips from the main shaft of the valve speed reducer in the rotating process is avoided, and the rotating operation efficiency of the main shaft of the valve speed reducer is greatly improved.

In addition, a V-shaped clamping inlet is formed in the bottom of the front end of the frame body, so that a second prism and a sleeve in the driving mechanism can extend out of the bottom of the frame body downwards, an inner hole in the lower portion of the sleeve is matched with the end of a central shaft of the valve speed reducer, and the rotation of the sleeve under the driving of the rotary driving module is not influenced; in addition, the two corners of the frame body at the front ends of the two side doors and at the rear side of the V-shaped clamping opening are respectively vertically provided with a lifting column, and the bottom of each lifting column is provided with a walking wheel.

The intelligent control system for opening and closing the valve is compact in structure and convenient and fast to operate, can quickly open and close a large valve, and avoids the problems of high working strength, long consumed time and easiness in causing a large amount of fluid leakage caused by the mode of manually rotating the input shaft of the speed reducer.

Other advantages of the present invention will be described in detail in the detailed description of the invention.

Drawings

FIG. 1 is a block diagram of the present invention;

FIG. 2 is a schematic view of an assembly structure of the dynamic actuator of the present invention;

FIG. 3 is a front view of the driving mechanism of the present invention;

FIG. 4 is a schematic cross-sectional view taken along line A of FIG. 3;

FIG. 5 is a perspective view of the driving mechanism of the present invention;

FIG. 6 is a schematic structural diagram of a rotation driving module according to the present invention;

FIG. 7 is a perspective view of a second mounting cylinder according to the present invention;

FIG. 8 is a perspective view of the sliding shaft according to the present invention;

FIG. 9 is a perspective view of the sleeve of the present invention;

FIG. 10 is a perspective view of a first mounting cylinder according to the present invention;

FIG. 11 is a front view of a positioning unit according to the present invention;

FIG. 12 is a perspective view of a positioning unit according to the present invention;

FIG. 13 is a front view of the catching mechanism of the present invention;

FIG. 14 is a bottom view of the catch mechanism of the present invention;

FIG. 15 is a perspective view of the catching mechanism of the present invention;

FIG. 16 is a perspective view of the mobile cart according to the present invention;

reference numerals:

a mobile cart 1000; a V-shaped bayonet 1100; a frame body 1200; a side door 1300; a lifting column 1400; a traveling wheel 1500; an automatic telescoping rod 1600; a V-shaped guard plate 1700; a front door 1800; a lifting ring 1900;

a catching mechanism 2000; a mounting plate 2100; a V-shaped guide groove 2110; a catch hole 2120; a bending portion 2130; a capture module 2200; a rotating shaft 2210; a capture plate 2220; a second perforation 2221; notch 2222; a roller 2230; an elastic member 2240; a locking unit 2300; an automatic telescoping cylinder 2310; a telescoping rod 2311; a first perforation 2320;

a drive mechanism 3000; a rotary drive module 3100; an output shaft 3110; a second key groove 3111; a universal connection module 3200; a first mounting cylinder 3210; a second key body 3211; a second mounting cylinder 3220; the first keyway 3221; a slide shaft 3230; a first key body 3231; a third mounting cylinder 3240; a first prism 3300; the adjusting cylinder 3400; the adjustment holes 3410; a second prism 3500; a fixing hole 3510; a fastener 3520; a sleeve 3600; an upper bore 3610; a lower bore 3620;

a positioning unit 4000; span adjustment mechanisms 4100; a barrel 4110; the first link 4120; an adjusting lever 4130; a second link 4140; a first locking module 4150; a first locking hole 4151; the first reinforcement block 4152; the first lock lever 4153; a rotation operation module 4154; a fifth link 4160; positioning mechanism 4200; a sliding sleeve 4210; a third link 4220; a second locking module 4230; a fourth link 4240; the positioning hole 4300.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 16 of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

As shown in fig. 1-16: the utility model provides an intelligent control system is opened and close to valve, includes portable final controlling element, with the control module that portable final controlling element is connected sets up on portable final controlling element's the actuating mechanism and be used for collecting the feedback module of actuating mechanism motion data, feedback module with control module signal interconnection.

The movable executing device comprises a movable trolley, a V-shaped clamping inlet is formed in the bottom of the movable trolley, a capturing mechanism is arranged above the V-shaped clamping inlet, a driving mechanism used for driving a main shaft of a valve speed reducer to rotate is arranged in the movable trolley, and the capturing mechanism is used for capturing the driving mechanism.

Specifically, the intelligent control system for opening and closing the valve comprises a mobile execution device, a control module connected with the mobile execution device, and a feedback module which is arranged on a driving mechanism of the mobile execution device and used for collecting motion data of the driving mechanism, wherein the feedback module is in signal interconnection with the control module; the movable execution device comprises a movable trolley 1000, a V-shaped clamping opening 1100 is formed in the bottom of the movable trolley 1000, a capturing mechanism 2000 is arranged above the V-shaped clamping opening 1100, a driving mechanism 3000 used for driving a main shaft of a valve speed reducer to rotate is arranged in the movable trolley 1000, and the capturing mechanism 2000 is used for capturing the driving mechanism 3000;

as shown in fig. 3-4, the drive mechanism 3000 includes a rotary drive module 3100, a first prism 3300 is connected to an output shaft 3110 of the rotation driving module 3100 through a universal connection module 3200, the first prism 3300 is slidably sleeved with an adjusting cylinder 3400 matched with the first prism 3300, the length of the adjusting cylinder 3400 is longer than that of the first prism 3300, a second prism 3500 matched with the adjusting cylinder 3400 is inserted in the adjusting cylinder 3400 and is positioned below the first prism 3300 in a sliding way, the lower end of the second prism 3500 extends out of the adjusting cylinder 3400, the lower end of the second prism 3500 is slidably sleeved with a sleeve 3600 matched with the second prism 3500, the upper inner bore 3610 of the sleeve 3600 is matched with the second prism 3500, the cross section of the lower inner hole 3620 of the sleeve 3600 is consistent with the shape of the end of the central shaft of the valve speed reducer.

According to an embodiment of the present invention, as shown in fig. 3, a plurality of adjusting holes 3410 are formed through the adjusting cylinder 3400 in a diameter direction, the plurality of adjusting holes 3410 are distributed along an axial direction of the adjusting cylinder 3400, a fixing hole 3510 is formed in an upper portion of the second prism 3500, the fixing hole 3510 corresponds to one of the adjusting holes 3410 and is provided with a fastener 3520 through which a fixing between the second prism 3500 and the adjusting cylinder 3400 is achieved, and an installation height of the second prism 3500 with respect to the adjusting cylinder 3400 is adjusted according to a height of the adjusting hole 3410 selected and inserted by the fastener 3520.

In this embodiment, after the length of the lower portion of the second prism extending out of the adjusting cylinder is determined, in order to avoid sliding between the second prism and the adjusting cylinder, especially when the well depth of the valve well is large, the second prism needs to be pulled out of the adjusting cylinder very long, a distance is provided between the top of the second prism and the top of the inserting hole in the adjusting cylinder for inserting the second prism, the adjusting cylinder is easy to slide down along the second prism, in order to avoid this phenomenon, a plurality of adjusting holes are arranged on the adjusting cylinder in a penetrating manner along the diameter direction, the plurality of adjusting holes are distributed along the axial direction of the adjusting cylinder, a fixing hole is arranged at the upper portion of the second prism, the fixing hole corresponds to one of the adjusting holes and penetrates a fastener to fix the second prism and the adjusting cylinder, and the installation height of the second prism relative to the adjusting cylinder is determined according to the height of the adjusting hole selected and inserted by the fastener And (6) carrying out adjustment.

According to an embodiment of the present invention, the fastening member 3520 is a bolt-nut assembly, and the fastening member 3520 is used for fixing the second prism 3500 and the adjustment cylinder 3400, and it should be understood that the fastening member 3520 is not limited to the bolt-nut assembly, and other types, such as a screw-nut assembly, a latch assembly, etc., can be used to perform the same function.

According to an embodiment of the present invention, the number of the adjusting holes 3410 is 7, and it is obvious that the number of the adjusting holes 3410 may be set to any number, such as 1, 2, 3, 4, 5, 6, 8, 9, or 10, etc., according to the requirement of high degree adjustment in practical use.

According to one embodiment of the present invention, as shown in fig. 3 and 5, the universal connection module 3200 includes a first mounting cylinder 3210 disposed on the output shaft 3110 of the rotary drive module 3100, the lower end of the first mounting cylinder 3210 is hinged to a second mounting cylinder 3220, the inner wall of the second mounting cylinder 3220 is axially provided with a plurality of first keyways 3221, all the first keyways 3221 are circumferentially and uniformly distributed on the circumferential inner wall of the second mounting cylinder 3220, a sliding shaft 3230 is inserted into the second mounting cylinder 3220, a first key body 3231 engaged with the first key groove 3221 is disposed on a circumferential surface of the sliding shaft 3230, the lower end of the sliding shaft 3230 is hinged with a third installation cylinder 3240, the cross section of the inner hole of the third installation cylinder 3240 is polygonal, the first prism 3300 matched with the third installation cylinder 3240 is inserted into the inner hole of the third installation cylinder 3240 in a sliding manner.

According to an embodiment of the present invention, as shown in fig. 6, a plurality of second key grooves 3111 are axially formed on an outer surface of an output shaft 3110 of the rotary driving module 3100, all the second key grooves 3111 are circumferentially and uniformly distributed on a circumferential surface of the output shaft 3110, and a second key body 3211 which is matched with the second key grooves 3111 is axially disposed on an inner wall of the first mounting cylinder 3210.

According to an embodiment of the present invention, the width of the second key groove 3111 is 1.1 times the width of the second key body 3211, in this embodiment, the width of the second key groove 3111 is 1.1 times the width of the second key body 3211, which is intended to facilitate the insertion of the second key body 3211 into the second key groove 3111, and reduce the impact of the rotary driving module 3100 on the second key body 3211 during the sudden start, so as to achieve a certain buffering effect, obviously, the width of the second key groove 3111 may also be other multiples of the width of the second key body 3211, such as 1.2 times, 1.3 times, 1.4 times, or 1.5 times, etc.

According to an embodiment of the present invention, the number of the second key grooves 3111 is 6, but it is obvious that the number of the second key grooves 3111 may be other numbers, such as 5, 7, 8, 9, 10, 11 or 12.

While the cross-section of the inner bore of the third mounting cylinder 3240 is quadrilateral according to an embodiment of the present invention, it is apparent that the cross-section of the inner bore of the second mounting sleeve 3240 can be configured in other shapes, such as a triangle, a pentagon, a hexagon, a heptagon, or an octagon.

According to an embodiment of the present invention, the rotation driving module 3100 employs a hydraulic motor, and the rotation driving module 3100 is configured to provide a rotational force for the universal connection mechanism, so as to drive the sleeve 3600 slidably disposed at the lower end of the second prism 3500 to rotate, and finally drive the main shaft of the valve reducer to rotate, so as to close and open the valve.

After the driving mechanism 3000 adopts the above structure, not only can the automatic rotation of the main shaft of the valve speed reducer be realized to improve the operation efficiency, but also the impact to the main shaft of the valve speed reducer in the process of rotary driving can be reduced, and meanwhile, the driving mechanism can also be suitable for the valve speed reducers in different valve well depths.

According to an embodiment of the present invention, as shown in fig. 2 and 10, the present invention further comprises a positioning unit 4000 for providing positioning for the driving mechanism 3000, wherein the positioning unit 4000 comprises a span adjusting mechanism 4100 and a positioning mechanism 4200, the span adjusting mechanism 4100 is placed on the wellhead of the valve in a spanning manner, the positioning mechanism 4200 is slidably arranged on the span adjusting mechanism 4100, and the middle part of the positioning mechanism 4200 is provided with a positioning hole 4300 for providing positioning for the driving mechanism 3000; the span adjusting mechanism 4100 comprises a pair of barrel bodies 4110 which are arranged in parallel, two ends of each barrel body 4110 are connected through a first connecting rod 4120, an adjusting rod 4130 matched with each barrel body 4110 is inserted in each barrel body 4110 in a sliding manner, the outer ends of the two adjusting rods 4130 are connected through a second connecting rod 4140, and the barrel bodies 4110 and the adjusting rods 4130 inserted in the barrel bodies in a sliding manner are locked through a first locking module 4150; the positioning mechanism 4200 comprises a sliding sleeve 4210 slidably sleeved on each cylinder 4110, the two sliding sleeves 4210 are connected by a pair of third connecting rods 4220, a positioning hole 4300 for providing a positioning function for a valve reducer operating rod is left between the pair of third connecting rods 4220, and the sliding sleeves 4210 and the cylinders 4110 are locked by a second locking module 4230.

In this embodiment, the span adjusting mechanism 4100 has the above structure, and not only has a simple structure, but also can adjust the total length of the span adjusting mechanism 4100 and the positioning mechanism 4200 by changing the length of the adjusting rod 4130 extending out of the barrel 4110, so that the universal coordinate positioner can be adapted to positioning of the main shaft operating rod of the valve speed reducer in the driving mechanism 3000 in the valve well with different calibers. In addition, positioning mechanism adopts above-mentioned structure, simple structure, and the sliding sleeve 4210 establishes the mode with the slip cap of barrel 4110, is not only convenient for adjust the relative position of sliding sleeve 4210 and barrel 4110, and the joint strength of sliding sleeve 4210 and barrel 4110 is higher moreover, and is more firm. Meanwhile, when the position of the positioning mechanism 4200 is adjusted with respect to the span adjustment mechanism 4100, the positioning mechanism 4200 and the span adjustment mechanism 4100 can be fixed by the second locking module 4230.

According to an embodiment of the present invention, as shown in fig. 11, the first locking module 4150 includes a first locking hole 4151 opened outside an inner end of the barrel 4110, a first reinforcing block 4152 is disposed on the first locking hole 4151, a first threaded hole communicated with the first locking hole 4151 is opened on the first reinforcing block 4152, and a first locking rod 4153 is connected to the first threaded hole through a thread.

According to an embodiment of the present invention, the cross-sectional shape of the inner cavity of the barrel 4110 is a square, and it is obvious that the cross-sectional shape of the barrel 4110 may also be a circle, a pentagon, a hexagon, a heptagon, or an octagon, which can also achieve sliding of the adjustment rod 4130 in the barrel 4110, and can also achieve sliding of the sliding sleeve 4210 relative to the barrel 4110; meanwhile, the polygon can also prevent rotation.

According to an embodiment of the present invention, as shown in fig. 11, one fourth link 4240 is disposed between two ends of each of the pair of third links 4220, and the pair of third links 4220 and the pair of fourth links 4240 are enclosed together to form the square positioning hole 4300.

In this embodiment, in order to further improve the positioning accuracy of the positioning hole 4300, one fourth link 4240 is respectively disposed between both end portions of the pair of third links 4220, and the pair of third links 4220 and the pair of fourth links 4240 are enclosed together to form the square positioning hole 4300. Thus, the center of the positioning hole 4300 can coincide with the axis of the main shaft operating rod of the valve speed reducer in the driving mechanism 3000, so that the position of the positioning unit placed on the well head of the valve can be adjusted more conveniently.

According to an embodiment of the present invention, as shown in fig. 12, a fifth link 4160 is provided between the outer ends of the two adjustment levers 4130 and inside the second link 4140.

In this embodiment, in order to increase the strength of the outer ends of the two adjustment levers 4130, a fifth link 4160 is provided between the outer ends of the two adjustment levers 4130 and inside the second link 4140.

According to an embodiment of the present invention, as shown in fig. 12, a rotating operation block 4154 is provided at an outer end of the first locking lever 4153, and the rotating operation block 4154 employs a hexagonal hole.

In this embodiment, the rotating operation module adopts a hexagonal hole, and it is obvious that the rotating operation module can also adopt other polygonal holes, such as a triangular hole, or a quadrilateral hole, or a pentagonal hole, or a hexagonal hole, or a heptagonal hole, or an octagonal hole, etc. In addition, the rotating operation module is not limited to the polygonal hole, and a polygonal bump may be used, and the polygonal bump may be a triangular bump, a quadrangular bump, a pentagonal bump, a hexagonal bump, a heptagonal bump, or an octagonal bump.

According to an embodiment of the present invention, as shown in fig. 11, the second locking module 4230 includes a second locking hole 4231 formed on an outer side of the sliding sleeve 4210, a second reinforcing block 4232 is disposed on the second locking hole 4231, a second threaded hole communicated with the second locking hole 4231 is formed on the second reinforcing block 4232, and a second locking rod 4233 is threadedly connected to the second threaded hole.

In this embodiment, after the second locking module 4230 adopts the above structure, when the positioning mechanism 4200 needs to be adjusted to be located on the span adjusting mechanism 4100, the second locking rod 4233 is released, so that the inner end of the second locking rod 4233 releases the cylinder 4110 of the span adjusting mechanism 4100, and then the position of the positioning hole 4300 of the positioning mechanism 4200 is adjusted in a sliding manner, so that the positioning hole 4300 is located at the position of the valve reducer main shaft operating rod, so as to position the valve reducer main shaft operating rod by using the positioning hole 4300.

According to an embodiment of the present invention, as shown in fig. 12, an outer end of the second lock lever 4233 is provided with a rotary operation module 4154, and the rotary operation module 4154 employs a hexagonal hole.

After the positioning unit 4000 adopts the above structure, coordinate positioning can be provided for the main shaft operating rod of the rapid valve speed reducer, so that the main shaft operating rod of the valve speed reducer is prevented from deviating and even being separated from the main shaft of the valve speed reducer when rotating, span adjustment can be performed through the span adjusting mechanism, and therefore the requirement for valve wellheads with different calibers is met, and the application range is wide. When the positioning unit 4000 is used, firstly, the first locking module is loosened, the extending length of the adjusting rod in the span adjusting mechanism is adjusted according to the diameter of the valve wellhead, so that the span adjusting mechanism can be placed on the upper edge of the valve wellhead in a spanning mode, and after the span adjusting mechanism is adjusted, the two adjusting rods are respectively locked in the corresponding cylinders by using the first locking module; then, the second locking module is loosened, the position of the positioning mechanism is adjusted according to the position of the main shaft of the valve speed reducer, so that the positioning hole in the positioning mechanism is just positioned right above the end part of the main shaft of the valve speed reducer, then the second locking module is locked, then the operating rod of the main shaft of the valve speed reducer is inserted into the positioning hole, the lower end of the operating rod is sleeved at the end part of the main shaft of the valve speed reducer, then the main shaft of the valve speed reducer can be rotated through rotating the operating rod, and therefore the operation of closing and opening the valve is achieved.

According to an embodiment of the present invention, as shown in fig. 13 to 15, the catching mechanism 2000 includes a mounting plate 2100, a V-shaped guide groove 2110 is formed in a front side of the mounting plate 2100, a catching hole 2120 for catching a valve operating lever is formed at a corner position of the V-shaped guide groove 2110, a pair of catching modules 2200 are symmetrically disposed on both sides of the catching hole 2120 on the mounting plate 2100 with a center line of the V-shaped guide groove 2110 as a symmetry line, and the pair of catching modules 2200 cooperate with each other to form a complete catching mechanism 2000 for catching the driving mechanism 3000 caught in the catching hole 2120.

According to an embodiment of the present invention, as shown in fig. 13 to 15, the catching module 2200 includes a catching plate 2220 rotatably provided on the mounting plate 2100 by a rotating shaft 2210, two rollers 2230 are rotatably provided on the catching plate 2220, inner ends of the rollers 2230 are protruded into an inner side of the catching plate 2220, and centers of inscribed circles of the four rollers 2230 are located at a center of the catching hole 2120 when the pair of catching modules 2200 catches the valve lever.

According to an embodiment of the present invention, as shown in fig. 13, in order to improve the convenience of operation and speed up the catching of the valve operating rod guided by the V-shaped guide groove 2110 by the pair of catching modules 2200, the connecting line of the two rotating shafts 2210 of the pair of catching modules 2200 is located on a diameter line of the catching hole 2120, so that the same force applied to the valve operating rod by the pair of catching modules 2200 can be maintained all the time during the catching of the valve operating rod, and the catching is more uniform and stable.

According to an embodiment of the present invention, as shown in fig. 13 and 15, in order to prevent the inner ends of the pair of catching modules 2200 from contracting together when the valve operating lever is not caught by the pair of catching modules 2200, thereby affecting the subsequent valve operating lever to enter between the pair of catching modules 2200, the outer ends of the two catching plates 2220 of the pair of catching modules 2200 are connected by the elastic member 2240, so that on one hand, the above-mentioned effects can be achieved, and on the other hand, when the valve operating lever exits from the pair of catching modules 2200, the elastic member 2240 is in a stretching state, thereby providing an opening torque to the inner ends of the pair of catching modules 2200, which further facilitates the exit between the pair of catching modules 2200 by the valve operating lever.

According to an embodiment of the present invention, the elastic member 2240 is a spring, and it is obvious that the elastic member 2240 may be other types, such as a rubber band, which can also achieve the same effect.

According to an embodiment of the present invention, the catching hole 2120 is used to catch the valve operating rod when the valve operating rod reaches the corner position of the V-shaped guide groove 2110 under the guidance of the V-shaped guide groove 2110, and the catching hole 2120 is a circular hole, but it is obvious that the catching hole 2120 may be other shapes, such as a rectangular hole, a pentagonal hole, a hexagonal hole, a heptagonal hole, or an octagonal hole, which can catch the valve operating rod as in the catching hole 2120.

According to an embodiment of the present invention, as shown in fig. 14 and 15, in order to avoid the pair of catch modules 2200 from completing the catching of the valve operating lever, the pair of catch modules 2200 are oscillated or vibrated by the rotation of the valve lever, a locking unit 2300 for locking the catching plate 2220 is provided at the bottom of the mounting plate 2100 at a position below the catching module 2200, the locking unit 2300 includes an automatic telescopic cylinder 2310 provided at the bottom of the mounting plate 100, the mounting plate 2100 is provided with a first through hole 2320 for allowing the expansion rod 2311 of the automatic expansion cylinder 2310 to pass through to be tightly pressed against the catching plate 2220, after the pair of catching modules 2200 catches the valve operating rod, the telescopic rod 2311 of the automatic telescopic cylinder 2310 passes through the first through hole 2320 and is tightly pressed against the catching plate 2220 to play a role of locking the catching plate 2220.

According to an embodiment of the present invention, as shown in fig. 14 and 15, in order to enable the telescopic rod 2311 of the automatic telescopic cylinder 2310 to stably lock the catching plate 2220 and prevent the catching plate 2220 and the telescopic rod 2311 from generating a rigid sliding locking effect, the catching plate 2220 is provided with a second through hole 2221, and after the pair of catching modules 2200 catches the valve operating rod, the telescopic rod 2311 of the automatic telescopic cylinder 2310 passes through the first through hole 2320 and is inserted into the second through hole 2221 to lock the catching plate 2220.

According to an embodiment of the present invention, as shown in fig. 13 and 15, in order to prevent the outer surface of the valve lever from interfering with the inner side of the catching plate 2220, a notch 2222 is formed at the inner side of the catching plate 2220 to prevent the outer surface of the valve lever from contacting with the outer surface of the valve lever.

According to an embodiment of the present invention, the notch 2222 is used to prevent the outer surface of the valve operating rod from interfering with the inner side of the catching plate 2220, and in this embodiment, the notch 2222 is circular arc, but obviously, the notch may also take other shapes, such as rectangular, which can also achieve the above-mentioned functions.

According to one embodiment of the invention, the automatic telescopic cylinder 2310 functions as: after the pair of catching modules 2200 catches the valve operating rod, the telescopic rod 2311 of the automatic telescopic cylinder 2310 penetrates through the first through hole 2320 and is inserted into the second through hole 2221 to lock the catching plate 2220, in this embodiment, the automatic telescopic cylinder 2310 is a pneumatic telescopic cylinder, and obviously, the automatic telescopic cylinder 2310 may be other types, such as an electric telescopic cylinder or a hydraulic telescopic cylinder, which can also perform the above-mentioned function.

According to an embodiment of the present invention, as shown in fig. 15, in order to increase the overall strength of the mounting plate 2100, the mounting plate 2100 can be manufactured by one-time press forming by providing the bent portion 2130 at the edge of the mounting plate 2100, and the bent portion 2130 can greatly increase the overall strength and reduce deformation.

After the catching mechanism 2000 adopts the above structure, not only can automatic catching and locking of the operating rod of the main shaft of the valve speed reducer be realized, the phenomenon that the operating rod swings or even slips from the main shaft of the valve speed reducer in the rotating process is avoided, and the rotating operation efficiency of the main shaft of the valve speed reducer is greatly improved.

According to an embodiment of the present invention, as shown in fig. 2 and 16, the mobile cart 1000 includes a cart frame body 1200, the V-shaped card-in opening 1100 is disposed at the bottom of the front end of the cart frame body 1200, a side door 1300 is respectively rotatably disposed on the cart frame body 1200 and located at two sides of the V-shaped card-in opening 1100, a lifting column 1400 is respectively vertically disposed at the front end of the two side doors 1300 and two corners of the cart frame body 1200 located at the rear side of the V-shaped card-in opening 1100, a traveling wheel 1500 is disposed at the bottom of each lifting column 1400, the inner side of each side door 1300 is rotatably connected to one end of an automatic telescopic rod 1600, and the other end of the automatic telescopic rod 1600 is fixedly disposed inside the cart frame body 1200.

In this embodiment, a V-shaped card inlet 1100 is disposed at the bottom of the front end of the frame body 1200, so that the second prism 3500 and the sleeve 3600 in the driving mechanism 3000 can extend out of the bottom of the frame body 1200, and the lower inner hole 3620 of the sleeve 3600 is matched with the end of the central shaft of the valve speed reducer, and does not affect the rotation of the sleeve 3600 under the driving of the rotation driving module 3100; in addition, the front ends of the two side doors 1300 and two corners of the frame body 1200 behind the V-shaped clamping opening 1100 are respectively vertically provided with a lifting column 1400, and the bottom of each lifting column 1400 is provided with a traveling wheel 1500, so that the traveling wheels 1500 can be extended out of the bottom of the frame body 1200 by using the lifting columns 1400 when the executing device is moved, after the executing device is moved in place, the traveling wheels 1500 are retracted into the bottom of the frame body 1200 by using the lifting columns 1400, and at the moment, the bottom of the frame body 1200 directly falls on the edge of a valve well mouth.

According to an embodiment of the present invention, the automatic telescopic rod 1600 is a hydraulic telescopic rod, and it is obvious that the automatic telescopic rod 1600 can be other types, such as a pneumatic telescopic rod or an electric telescopic rod.

According to an embodiment of the invention, as shown in fig. 16, a V-shaped protection plate 1700 is vertically arranged in the frame body 1200 at a position behind the V-shaped clamping opening 1100.

According to an embodiment of the present invention, as shown in fig. 16, a front door 1800 is rotatably disposed on the top of the front side of the frame body 1200.

According to an embodiment of the present invention, as shown in fig. 16, in order to facilitate the overall lifting of the actuator, a lifting ring 1900 is disposed on the top of the frame body 1200.

According to an embodiment of the present invention, the present invention further provides an intelligent control method for opening and closing a valve, including the following steps:

In the embodiment, the total operation time in the whole process is divided into a starting stage of T1, a stable driving stage of T2 and a speed reduction stage of T3, and in the starting stage of T1, the rotating speed of the driving mechanism is low and a slow speed increasing mode is adopted, so that whether the driving mechanism has an overload phenomenon or not can be found in time, and the valve speed reducer is prevented from being forcibly driven to cause damage; in the stable driving stage of T2, the main shaft of the valve speed reducer can be driven to rotate at a higher rotation speed under the safe condition, so that the opening and closing time of the valve is shortened; set up the speed reduction stage of T3, the number of turns that the main shaft of valve speed reducer needs to rotate when the purpose is opened and close according to the valve completely, before the valve is opened and close completely, steadily falls actuating mechanism's rotational speed to avoid suddenly slowing down and cause the damage for actuating mechanism and valve speed reducer.

According to one embodiment of the invention, when the oil pressure or voltage or air pressure data in the control module is detected not to be reduced and the feedback module detects that the rotating speed of the output shaft in the driving mechanism is stable in S1, the rotating speed of the driving mechanism is kept unchanged for 5-10S, the rotating speed of the output shaft is slowly increased, whether excessive fluctuation occurs in the oil pressure or voltage or air pressure data is observed, and if the excessive fluctuation does not occur, the rotating speed of the output shaft is continuously increased. Therefore, on one hand, the rotating speed of the driving mechanism can be gradually increased, on the other hand, whether the load (namely the valve speed reducer) of the driving mechanism is abnormal or not can be judged in time according to whether the oil pressure or the voltage or the air pressure data has the overlarge fluctuation or not, and then the load of the driving mechanism is stable in the starting stage of T1, and the overlarge fluctuation of the oil pressure or the voltage or the air pressure data does not occur.

According to one embodiment of the invention, if the oil pressure or voltage or air pressure data has excessive fluctuation, the rotating speed is reduced to the rotating speed before the excessive fluctuation does not occur, after the oil pressure or voltage or air pressure data is stabilized for 10-15S, the rotating speed of the output shaft is slowly increased, whether the excessive fluctuation occurs in the oil pressure or voltage or air pressure data or not is observed, if the excessive fluctuation does not occur, the rotating speed of the output shaft is continuously increased, and if the excessive fluctuation occurs, the steps are repeated. Like this, can in time reduce actuating mechanism's rotational speed when sudden increase appears in actuating mechanism's load to keep slowly increasing the rotational speed again after a period, and continue to observe whether too big fluctuation appears in oil pressure or voltage or atmospheric pressure data, if do not appear continuing to improve the output shaft rotational speed, if this step action of repetition appears, thereby avoid forcing drive valve speed reducer under actuating mechanism's overload's the condition, the actuating mechanism that causes damages, the phenomenon that valve speed reducer damaged appears even. Greatly improving the construction safety.

According to an embodiment of the present invention, the feedback module includes a counter, an oil pressure sensor/a voltage sensor/a pressure sensor, the counter is used for calculating the rotation speed and the number of turns, the oil pressure sensor is used for detecting whether the oil pressure increases suddenly when the rotary driving module of the mobile execution device adopts a hydraulic motor (if the oil pressure increases suddenly, it means that the output end of the electric motor has an overload phenomenon, that is, the driving resistance increases due to corrosion and the like in the valve reducer, and at this time, the rotary driving module is required to suspend the rotation speed increase or the rotation speed is up to the rotation speed when the sudden increase does not occur before, so as to avoid the damage caused by the rotary driving module driving the valve reducer by force; of course, if the electric motor is adopted as the rotation driving module, a voltage sensor is required to detect whether the voltage of the electric motor suddenly increases; if the pneumatic motor is adopted as the rotary driving module, the pressure sensor is needed to be used for detecting whether the air pressure of the pneumatic motor is suddenly increased or not, if the sudden increase is caused, the similar phenomenon is caused, the rotating speed of the rotary driving module is needed to be temporarily stopped to be increased or the rotating speed is not increased until the rotating speed is reached, so that the valve speed reducer is prevented from being damaged by being forcibly driven by the rotary driving module.

According to one embodiment of the invention, the control module employs a computer.

According to one embodiment of the invention, T2= T1+ T3, T1+ T2+ T3=6 to 20 minutes, the drive mechanism rotates 8000 to 10000 revolutions in total within a time T1+ T2+ T3. In this embodiment, T2 is equal to T1+ T2, in order to compress the time of the start-up early stage T1 and the deceleration stage T3 as much as possible, thereby shortening the whole construction time, although T2 may be larger than T1+ T3; t1+ T2+ T3=6 minutes, in order to control the total operation time from the whole process, so as to control the construction efficiency, 6 minutes is the fastest, if the valve speed reducer is protected to a greater extent, the total operation time of T1+ T2+ T3 can be prolonged appropriately, such as 7 minutes, 8 minutes, 10 minutes, 15 minutes, 20 minutes and the like; the total rotation number of the driving mechanism in the time of T1+ T2+ T3 is 8000 turns because the total rotation number of the valve speed reducer completing the opening and closing is 8000 turns, obviously, if the total rotation number of the valve speed reducer completing the opening and closing is more, the total rotation number can be set according to specific conditions, such as 8500 turns, 9000 turns, 9500 turns or 10000 turns.

The rotary driving module in the mobile execution device can operate in a low-speed region within a period of time of just starting, so as to avoid

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. An intelligent control system for opening and closing a valve comprises a mobile execution device, a control module connected with the mobile execution device, and a feedback module which is arranged on a driving mechanism of the mobile execution device and used for collecting motion data of the driving mechanism, wherein the feedback module is in signal interconnection with the control module;

the movable executing device comprises a movable trolley, a V-shaped clamping inlet is formed in the bottom of the movable trolley, a capturing mechanism is arranged above the V-shaped clamping inlet, the driving mechanism for driving a main shaft of a valve speed reducer to rotate is arranged in the movable trolley, and the capturing mechanism is used for capturing the driving mechanism;

the driving mechanism comprises a rotary driving module, a first prism is connected to an output shaft of the rotary driving module through a universal connection module, an adjusting cylinder body matched with the first prism is slidably sleeved on the first prism, the length of the adjusting cylinder body is longer than that of the first prism, the adjusting cylinder body is internally and slidably inserted below the first prism, a second prism matched with the first prism is arranged in the adjusting cylinder body, the lower end of the second prism extends out of the adjusting cylinder body, a sleeve matched with the second prism is slidably sleeved at the lower end of the second prism, an upper inner hole of the sleeve is matched with the second prism, and the cross section shape of the lower inner hole of the sleeve is consistent with the shape of the end of a central shaft of the valve speed reducer.

2. The intelligent valve opening and closing control system of claim 1, wherein: the adjusting cylinder body is provided with a plurality of adjusting holes in a penetrating mode in the diameter direction, the adjusting holes are distributed in the axial direction of the adjusting cylinder body, the upper portion of the second prism is provided with a fixing hole, the fixing hole corresponds to one of the adjusting holes and penetrates through a fastener to achieve fixing between the second prism and the adjusting cylinder body, and the installation height of the second prism relative to the adjusting cylinder body is adjusted according to the height of the adjusting hole selected to be inserted by the fastener.

3. The intelligent valve opening and closing control system of claim 1, wherein: the universal connection module is including setting up first installation barrel on the output shaft of rotation driving module, the lower extreme of first installation barrel articulates there is second installation barrel, many first keyways have been seted up along the axial on the inner wall of second installation barrel, and whole first keyways are circumference evenly distributed and are in on the circumference inner wall of second installation barrel, it is equipped with the sliding shaft to insert in the second installation barrel, set up on the periphery of sliding shaft with first keyway matched with first key body, the lower extreme of sliding shaft articulates there is third installation barrel, the cross section of the hole of third installation barrel is the polygon, it is equipped with rather than matched with to slide to insert in the hole of third installation barrel first prism.

4. The intelligent valve opening and closing control system of claim 3, wherein: the positioning unit comprises a span adjusting mechanism and a positioning mechanism, the span adjusting mechanism is placed on a valve wellhead in a spanning mode, the positioning mechanism is arranged on the span adjusting mechanism in a sliding mode, and a positioning hole for positioning a main shaft operating rod of a valve speed reducer is formed in the middle of the positioning mechanism; the span adjusting mechanism comprises a pair of cylinders which are arranged in parallel, two ends of each cylinder are connected through a first connecting rod, an adjusting rod matched with the inside of each cylinder is inserted in a sliding mode, the outer ends of the two adjusting rods are connected through a second connecting rod, and the cylinders and the adjusting rods which are inserted in the cylinders in a sliding mode are locked through first locking modules; the positioning mechanism comprises sliding sleeves, the sliding sleeves are sleeved on each barrel body, the two sliding sleeves are connected through a pair of third connecting rods, positioning holes for positioning the valve speed reducer spindle operating rod are reserved between the pair of third connecting rods, and the sliding sleeves are locked through a second locking module.

5. The intelligent valve opening and closing control system of claim 1, wherein: the catching mechanism comprises a mounting plate, a V-shaped guide groove is formed in the front side of the mounting plate, a catching hole used for clamping a valve operating rod is formed in the corner position of the V-shaped guide groove, a pair of catching modules are symmetrically arranged on the mounting plate and located on two sides of the catching hole, and the center line of the V-shaped guide groove serves as a symmetry line, the pair of catching modules are matched with each other to form a complete catching mechanism, and the catching mechanism is used for catching a driving mechanism in the catching hole.

6. The intelligent valve opening and closing control system of claim 5, wherein: the catch module includes to rotate through the pivot and sets up catch plate on the mounting panel, it is provided with two gyro wheels to rotate on the catch plate, the inner of gyro wheel stretches into catch plate's inboard, when a pair of catch module catches the valve action bars the centre of a circle of the inscribed circle of four gyro wheels is located catch the center in hole.

7. The intelligent valve opening and closing control system of claim 6, wherein: the bottom of mounting panel just is located the below position of catching the module is provided with and is used for locking the locking unit of seizure board, the locking unit is including setting up the automatic telescoping cylinder of the bottom of mounting panel, seted up on the mounting panel and allowed the telescopic link of automatic telescoping cylinder passes tightly with the top first perforation on the seizure board, after the seizure of valve action bars is accomplished to a pair of seizure module, the telescopic link of automatic telescoping cylinder passes first perforation and top tightly are in on the seizure board, in order to play the locking the effect of seizure board.

8. An intelligent control method for opening and closing a valve comprises the following steps:

9. The intelligent control method for opening and closing the valve according to claim 8, wherein: and in S1, when the oil pressure or voltage or air pressure data in the control module is not reduced and the feedback module detects that the rotating speed of the output shaft in the driving mechanism is stable, keeping the rotating speed of the driving mechanism unchanged for 5-10S, slowly increasing the rotating speed of the output shaft, observing whether the oil pressure or voltage or air pressure data has excessive fluctuation, and if the oil pressure or voltage or air pressure data does not have excessive fluctuation, continuously increasing the rotating speed of the output shaft.

10. The intelligent control method for opening and closing the valve as claimed in claim 9, wherein: if the oil pressure or voltage or air pressure data has overlarge fluctuation, reducing the rotating speed to the rotating speed before the overlarge fluctuation does not occur, after the oil pressure or voltage or air pressure data is stabilized for 10-15S, then slowly increasing the rotating speed of the output shaft, observing whether the oil pressure or voltage or air pressure data has the overlarge fluctuation or not, if the oil pressure or voltage or air pressure data does not have the overlarge fluctuation, continuously increasing the rotating speed of the output shaft, and if the step action occurs, repeating the step action.