WO2020248427A1 - 一种阀门机械手 - Google Patents

一种阀门机械手 Download PDF

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Publication number
WO2020248427A1
WO2020248427A1 PCT/CN2019/107058 CN2019107058W WO2020248427A1 WO 2020248427 A1 WO2020248427 A1 WO 2020248427A1 CN 2019107058 W CN2019107058 W CN 2019107058W WO 2020248427 A1 WO2020248427 A1 WO 2020248427A1
Authority
WO
WIPO (PCT)
Prior art keywords
sleeve
hole
clamping
centering sleeve
transmission
Prior art date
Application number
PCT/CN2019/107058
Other languages
English (en)
French (fr)
Inventor
施镇乾
Original Assignee
施镇乾
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 施镇乾 filed Critical 施镇乾
Priority to CA3122307A priority Critical patent/CA3122307C/en
Priority to EP19922224.1A priority patent/EP3769917A4/en
Priority to US17/037,886 priority patent/US10995876B2/en
Publication of WO2020248427A1 publication Critical patent/WO2020248427A1/zh
Priority to US17/184,570 priority patent/US11821537B2/en

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
    • F16K31/05—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor specially adapted for operating hand-operated valves or for combined motor and hand operation
    • F16K31/055—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor specially adapted for operating hand-operated valves or for combined motor and hand operation for rotating valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16K—VALVES; TAPS; COCKS; ACTUATING-FLOATS; DEVICES FOR VENTING OR AERATING
    • F16K31/00—Actuating devices; Operating means; Releasing devices
    • F16K31/02—Actuating devices; Operating means; Releasing devices electric; magnetic
    • F16K31/04—Actuating devices; Operating means; Releasing devices electric; magnetic using a motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes

Definitions

  • This application relates to the technical field of valve control, and specifically to a valve manipulator.
  • the valve manipulator is a machine that controls the opening and closing of fluid ball valves for domestic and industrial use.
  • the existing valve manipulators cannot adapt to ball valves of different specifications.
  • the present application provides a valve manipulator, which can adapt to at least two types of ball valves and above.
  • a valve manipulator which includes a driving device, a transmission sleeve, a first return spring, a first centering sleeve configured with a set of valve handle screw caps, and a driving fork configured to couple with the valve handle.
  • the lower end of the transmission sleeve is connected with the drive fork
  • the drive fork has a first through hole configured with a complete set of valve handle screw caps
  • the first through hole is coaxial with the transmission sleeve
  • the drive fork is sleeved on the first through hole through the first through hole.
  • a pair of centering sleeves enables the first centering sleeve to move along its axial direction in the transmission sleeve.
  • the first return spring is configured to apply a downward elastic force to the first centering sleeve
  • the driving device is drivingly connected with the upper end of the transmission sleeve to drive the driving fork to rotate through the transmission sleeve.
  • a valve manipulator configured to control the opening and closing of an existing ball valve, wherein the valve manipulator is installed on an existing pipe with a ball valve, and the driving device maintains a fixed positional relationship with the pipe,
  • the driving fork is coupled with the handle of the ball valve, and power is input through the driving device, and the driving fork is rotated through the transmission sleeve, so that the driving fork can dial the handle of the valve.
  • the first through hole of the drive fork can also be adapted to a screw cap (for clear distinction, here identified as the first screw cap), in order to adapt (sleeve) another size Screw cap (that is, suitable for ball valves of another size, and at the same time, for clear distinction, here identified as the second screw cap), this application also includes a first centering
  • the first centering sleeve can slide upwards against the elastic force of the first return spring under the abutment of the first screw cap to ensure that the first through hole of the driving fork can be sleeved with the first screw cap.
  • the first through hole is coaxial with the transmission sleeve, and the first centering sleeve is coaxial with the first through hole, it is ensured that the rotation axis of the power output of the valve manipulator in the present application can be coaxial with the rotation axis of the handle. line.
  • the surface of the driving fork is provided with screw holes
  • the outer peripheral wall of the transmission sleeve is extended with a mounting block
  • the mounting block is provided with a screw hole
  • the transmission sleeve is fixedly connected with the driving fork by bolts through the mounting block.
  • the lower end surface of the first centering sleeve is flush with the lower edge of the first through hole.
  • the first centering sleeve and the driving fork is in the non-working state, or when only the driving fork should be equipped with a set of screw caps, the first centering sleeve and the driving fork
  • the relative positional relationship, wherein the above-mentioned design can protect the first centering sleeve and the first return spring connected to it, and at the same time, when adapting to a screw cap of another size (such as the second screw cap above)
  • the first centering sleeve can be quickly sleeved on the screw cap, which improves the efficiency of installing the valve manipulator on the ball valve.
  • the aperture of the first through hole is smaller than the inner diameter of the transmission sleeve
  • a first limit step is formed on the outer peripheral surface of the first centering sleeve
  • the first limit step is configured The member is held against the upper surface of the driving fork to restrict the first centering sleeve from falling downward from the driving fork.
  • an achievable design capable of limiting the stroke of the first centering sleeve wherein by restricting the aperture of the first through hole to be smaller than the inner diameter of the transmission sleeve, part of the upper surface of the driving fork can cover the transmission sleeve
  • the part of the barrel thus forms an annular shielding portion, and a first limiting step is formed on the outer peripheral surface of the first centering sleeve, so that the first centering sleeve is pressed against by the elastic force of the first return spring
  • the upper surface of the driving fork (the ring-shaped shielding part), thereby ensuring that the first centering sleeve can work normally.
  • the inner wall of the transmission sleeve near one end of the drive fork is provided with an annular bump, the hole of the annular bump forming the through hole is greater than or equal to the hole of the first through hole, and the first centering
  • a first limiting step is formed on the outer peripheral surface of the sleeve, and the first limiting step is configured to resist against the upper surface of the annular protrusion to restrict the first centering sleeve from falling downward from the annular protrusion.
  • the valve manipulator further includes a second return spring and a second centering sleeve equipped with a set of valve handle screw caps, the first centering sleeve is sleeved in the second centering Sleeve so that the second centering sleeve can move along its axial direction within the first centering sleeve;
  • the second return spring is configured to apply a downward elastic force to the second centering sleeve.
  • the valve manipulator can also be adapted to screw caps of another size, where the second centering sleeve is configured to be connected to another screw cap in a complete set (in which, for clear description and to continue the description above, the second pair of The screw cap socketed by the middle sleeve is the third screw cap).
  • the second centering sleeve can slide in the first centering sleeve while being coaxially arranged with the first centering sleeve, the transmission sleeve and the driving fork. Due to the existence of the second return spring, the drive fork and the first centering sleeve can be normally socketed with screw caps of different sizes, and at the same time, the normal operation of the second centering sleeve is ensured.
  • the second centering sleeve and the first centering sleeve, the transmission sleeve and the drive fork are arranged coaxially
  • a second limiting step is formed on the outer peripheral surface of the second centering sleeve, and the second limiting step is configured to resist against the first centering sleeve to The second centering sleeve is restricted from falling away from the first centering sleeve.
  • the inner wall of the upper end of the first centering sleeve is provided with a ring-shaped groove, and the groove can be abutted and fit with the second limit step to make the second centering The sleeve can abut on the first centering sleeve.
  • a third limit step is formed on the inner circumferential surface of the transmission sleeve, the upper end of the first return spring resists the third limit step, and the lower end of the first return spring
  • the upper end of the second return spring resists the upper end surface of the first centering sleeve
  • the upper end of the second return spring resists the third limit step
  • the lower end of the second return spring resists the upper end surface of the second centering sleeve.
  • a possible installation method of the first return spring and the second return spring is provided.
  • the first return spring and the second return spring are respectively abutted
  • the structure is simple, the manufacturing is convenient, and the promotion is convenient.
  • due to the abutment it is also convenient to assemble and saves the manufacturing cost.
  • the valve manipulator further includes a transmission shaft and a third return spring.
  • the upper end of the transmission sleeve is sleeved on the transmission shaft and is keyed to the transmission shaft.
  • the transmission shaft and the output of the drive device The third return spring is arranged between the transmission sleeve and the driving device, and is configured to apply downward elastic force to the transmission sleeve.
  • the upper end surface of the transmission shaft is provided with a through hole
  • the output shaft of the driving device is inserted into the through hole of the transmission shaft, and is configured to be in transmission connection with the transmission shaft, and the transmission shaft and the driving device The output shaft is coaxial.
  • the transmission sleeve and the transmission shaft are connected by a key, so that the transmission sleeve can slide axially with respect to the transmission shaft.
  • the valve manipulator adapts to the ball valves of different heights
  • the screw caps of the ball valves of different heights can abut against
  • the transmission sleeve makes the transmission sleeve move in the axial direction.
  • the transmission sleeve can always abut the upper surface of the screw cap to ensure the stability of the transmission sleeve and the connection with the screw.
  • the coaxiality of the cap is the coaxiality of the cap.
  • the drive device includes a motor, a reducer, and a box.
  • the motor and the reducer are arranged in the box.
  • the output of the motor is connected to the input of the reducer, and the output of the reducer is
  • the box body is extended to connect with the transmission shaft, the third return spring is sleeved on the transmission sleeve, the upper end of the third return spring abuts against the box body, and the lower end of the third return spring abuts against the transmission sleeve.
  • the outer wall of the transmission sleeve is provided with a radially recessed step, and the step can abut the third return spring.
  • the valve manipulator further includes a clamping mechanism, the clamping mechanism is configured to be fixed on the pipeline, and the clamping mechanism is fixedly connected to the driving device;
  • the clamping mechanism includes two clamping hands, and the clamping hands include a first clamping part, a second clamping part and an adjusting screw;
  • the upper end of the first clamping piece has a hinge portion extending to the second clamping piece.
  • the hinge portion is hinged to the upper end of the second clamping piece.
  • the first clamping piece and the second clamping piece jointly define a clamping space.
  • the upper section of the clamping piece is provided with a first screw hole
  • the upper section of the second clamping piece is provided with a second screw hole
  • the adjusting screw is threadedly fitted with the first screw hole and the second screw hole;
  • the upper end surfaces of the two first clamping members jointly fix the driving device.
  • a possible solution for fixing the driving device to the pipeline is provided.
  • the driving device is fixed by a clamping mechanism so that the driving device can maintain the relative position relationship with the pipeline, so that the valve manipulator can stably couple the ball valve.
  • the clamping mechanism includes two clamping hands, which are fixed on the pipes on both sides of the driving device through the two clamping hands, so that the driving device is stably fixed.
  • the gripper includes a first assembly rod and a second assembly rod, the center of the first assembly rod is provided with a first screw hole, and the center of the second assembly rod is provided with a second screw hole;
  • the first assembly rod penetrates the upper section of the first clamping member, the outer wall of the first clamping member is provided with a through hole, the first screw hole is exposed to the through hole of the first clamping member, and the second assembly rod penetrates the first clamping member.
  • the outer wall of the second clamping piece is provided with a through hole, and the second screw hole is exposed to the through hole of the second clamping piece;
  • the front section of the adjusting screw forms a first thread
  • the rear section of the adjusting screw forms a second thread.
  • the diameter of the first thread is smaller than the diameter of the second thread.
  • the first thread and the second thread are positive and negative threads.
  • the above solution provides a possible specific structure of the gripper.
  • the first screw hole and the second screw hole in the gripper are conveniently and simply realized, thereby effectively improving the manufacturing Efficiency reduces the difficulty of manufacturing.
  • the adjustment screw can be quickly matched with the first screw hole and the second screw hole, which shortens the first clamping piece and the second clamping piece in the gripper The clamping and opening time.
  • the gripping hand further includes a hinge rod, and the first clamping member and the second clamping member are assembled by the hinge rod.
  • the hinge portion of the first clamping piece is provided with a through hole
  • the upper end of the second clamping piece is provided with a through hole
  • the hinge rod is inserted into the through hole of the hinge portion of the first clamping piece and the through hole of the second clamping piece. In the upper through hole.
  • valve manipulator further includes a clamping mechanism configured to be fixed on the pipeline, and the clamping mechanism is connected to the driving device through a buckle portion ;
  • the buckle portion is provided with a sliding member, and the sliding member of the buckle portion is configured to enable the clamping mechanism to slide relative to the driving device.
  • the clamping mechanism includes two clamping hands, the two clamping hands are correspondingly provided with two buckle parts, and both of the clamping hands can pass through the sliding of the buckle part.
  • the piece slides relative to the driving device and is configured to move the two grippers in opposite or opposite directions.
  • Fig. 1 is a schematic structural diagram of a valve manipulator in an embodiment of the application from a first perspective
  • FIG. 2 is a schematic diagram of the structure of the valve manipulator in the embodiment of the application from a second perspective;
  • FIG. 3 is a schematic structural diagram of the valve manipulator in the embodiment of the application from a third perspective
  • FIG. 4 is a schematic diagram of the structure of the valve manipulator in the embodiment of the application from a fourth perspective;
  • FIG. 5 is a schematic structural diagram of the valve manipulator in the embodiment of the application from a fifth perspective
  • FIG. 6 is a schematic diagram of the structure of the gripping hand in an embodiment of the application.
  • FIG. 7 is a schematic structural diagram of a valve manipulator having a buckle part in an embodiment of the application.
  • Figure 8 is a schematic side view of the valve manipulator in the embodiment of Figure 7;
  • Icon 10-valve manipulator; 10a-driving device; 10b-gripper; 11-transmission sleeve; 12-first centering sleeve; 13-driving fork; 14-second centering sleeve; 15-drive shaft 21-first return spring; 22-second return spring; 23-third return spring; 110-third limit step; 120-first limit step; 140-second limit step; 10a1-motor; 10a2-reducer; 10a3-box; 10b1-first clamp; 10b2-second clamp; 10b3-adjusting screw; 10b4-first assembly rod; 10b5-second assembly rod; 10b6-hinge rod; 30- buckle part.
  • This embodiment provides a valve manipulator 10, which can adapt to ball valves of various sizes, and at the same time can make the rotation axis of the power output of the valve manipulator 10 and the rotation axis of the ball valve handle lie in the same straight line.
  • Figure 1 shows the specific structure of the valve manipulator 10 in the first perspective
  • Figure 2 shows the specific structure of the valve manipulator 10 in the second perspective
  • Figure 3 shows The specific structure of the valve manipulator 10 from the third perspective.
  • Figure 2 shows an application scenario diagram of the valve manipulator 10 in this embodiment. It can be seen from Figure 2 that the valve manipulator 10 is fixed on a pipeline, and the pipeline has a ball valve. The valve manipulator 10 is configured To control the rotation of the handle of the ball valve.
  • the valve manipulator 10 includes a driving device 10a, a transmission sleeve 11, a first return spring 21, a first centering sleeve 12 that is equipped with a set of valve handle screw caps, and a configuration Into a drive fork 13 coupled to the valve handle.
  • the lower end of the transmission sleeve 11 is connected to the drive fork 13, and the drive fork 13 has a first through hole (the through hole structure can be seen in FIG. 3) for connecting the valve handle screw cap.
  • the first through hole and the drive sleeve 11 coaxially, the driving fork 13 is sleeved on the first centering sleeve 12 through the first through hole so that the first centering sleeve 12 can move in the transmission sleeve 11 along its axial direction.
  • the first return spring 21 is configured to apply a downward elastic force to the first centering sleeve 12, and the driving device 10 a is drivingly connected with the upper end of the transmission sleeve 11 to drive the driving fork 13 to rotate through the transmission sleeve 11.
  • the valve manipulator 10 is configured to control the opening and closing of an existing ball valve, wherein the valve manipulator 10 is installed on an existing pipe with a ball valve, the driving device 10a maintains a fixed positional relationship with the pipe, and the drive fork 13 and the ball valve
  • the handle is coupled to the drive device 10a, and power is input through the drive device 10a, and the drive fork 13 is rotated through the transmission sleeve 11, so that the drive fork 13 can dial the handle of the valve.
  • the first through hole of the drive fork 13 in this application can also be adapted to a screw cap (for a clear distinction, here identified as the first screw cap), in order to adapt )
  • a screw cap of another size that is, suitable for a ball valve of another size, and at the same time, for clear distinction, here is regarded as the second screw cap
  • the first centering sleeve 12 can be adjusted in elastic force when the second screw cap is adapted. Under the action, the second screw cap can be sleeved stably.
  • the first centering sleeve 12 can overcome the elastic force of the first return spring 21 under the abutting action of the first screw cap. Slide to ensure that the first through hole of the driving fork 13 can be sleeved with the first screw cap.
  • the aforementioned coupling of the drive fork 13 and the handle of the ball valve means that the drive fork 13 can block the handle of the ball valve, so that the drive fork 13 can drive the handle of the ball valve under the rotation of the transmission sleeve 11 At the same time, the rotation angle of the handle of the ball valve is consistent with the rotation angle of the driving fork 13.
  • the driving fork 13 is fixed to the transmission sleeve 11 by bolts, and the surface of the driving fork 13 is provided with screw holes.
  • a mounting block extends from the outer peripheral wall, and the mounting block is also provided with screw holes, which are fixed by bolts.
  • the installation method of the drive fork 13 and the transmission sleeve 11 can also be through other connection relationships, for example, the drive fork 13 is welded or glued to the transmission sleeve 11, or the drive fork 13 and the transmission sleeve
  • the barrel 11 is integrally formed.
  • the lower end surface of the first centering sleeve 12 is flush with the lower edge of the first through hole.
  • the above solution provides a possible realization of the first centering sleeve 12 and the driving fork 13 in the non-working state, or when only the driving fork 13 should be equipped with a set of screw caps, the first centering sleeve 12
  • the relative positional relationship with the driving fork 13, wherein the above-mentioned design can protect the first centering sleeve 12 and the first return spring 21 connected to it, and at the same time, when adapting to a screw cap of another size (as above The second screw cap in the text), the first centering sleeve 12 can be quickly sleeved on the screw cap, which improves the efficiency of installing the valve manipulator 10 on the ball valve.
  • the lower end surface of the first centering sleeve 12 and the driving fork 13 are in the same plane.
  • the lower end surface of the first centering sleeve 12 may also be driven
  • the inner cavity of the fork 13 can protect the first centering sleeve 12 in the inner cavity of the driving fork 13.
  • the hole diameter of the first through hole is smaller than the inner diameter of the transmission sleeve 11
  • a first limit step 120 is formed on the outer peripheral surface of the first centering sleeve 12, and the first The limiting step 120 is configured to abut against the upper surface of the driving fork 13 to restrict the first centering sleeve 12 from falling away from the driving fork 13.
  • the above provides an achievable design solution that can limit the stroke of the first centering sleeve 12, wherein by restricting the aperture of the first through hole to be smaller than the inner diameter of the transmission sleeve 11, part of the upper surface of the driving fork 13 can block the transmission.
  • the part of the sleeve 11 thus forms an annular shielding portion.
  • a first limiting step 120 is formed on the outer peripheral surface of the first centering sleeve 12, so that the elastic force of the first return spring 21 of the first centering sleeve 12 is Under the action, it abuts against the upper surface of the driving fork 13 (annular shielding portion), thereby ensuring that the first centering sleeve 12 can work normally.
  • the inner wall of the transmission sleeve 11 may be designed to limit the stroke of the first centering sleeve 12, for example, an annular abutting protrusion is provided in the transmission sleeve 11. Block to replace the above-mentioned annular shielding part.
  • the inner wall of the transmission sleeve 11 close to the end of the drive fork 13 is provided with a ring-shaped bump.
  • the ring-shaped bump forms a through hole with an aperture greater than or equal to the aperture of the first through hole.
  • the outer peripheral surface of the first centering sleeve A first limiting step is formed, and the first limiting step is configured to resist on the upper surface of the annular protrusion to restrict the first centering sleeve from falling downward from the annular protrusion.
  • FIG. 4 shows the specific structure of the valve manipulator 10 in this embodiment from a fourth perspective.
  • the valve manipulator 10 also includes a second return spring 22 and a second centering sleeve 14 equipped with a valve handle screw cap.
  • the first centering sleeve 12 is sleeved on the second centering sleeve 14 to make the second centering
  • the sleeve 14 can move along its axial direction in the first centering sleeve 12, and the second return spring 22 is configured to apply a downward elastic force to the second centering sleeve 14.
  • the valve manipulator 10 can also be adapted to a screw cap of another size, wherein the second centering sleeve 14 is configured to be connected to another screw cap in a complete set (wherein, for clear description and to continue the above description, the second pair of The screw cap socketed by the middle sleeve 14 is the third screw cap).
  • the second centering sleeve 14 can slide in the first centering sleeve 12 while being coaxially arranged with the first centering sleeve 12, the transmission sleeve 11 and the driving fork 13. Due to the existence of the second return spring 22, the driving fork 13 and the first centering sleeve 12 can be normally socketed with screw caps of different sizes, and at the same time, the normal operation of the second centering sleeve 14 is ensured.
  • first centering sleeve 12 and the second centering sleeve 14 described above are the same.
  • a third centering sleeve, a fourth centering sleeve, etc. may also be provided. , And at the same time cooperate with the resettable structure to achieve the adaptation effect of the fourth and fifth screw caps.
  • a second limiting step 140 is formed on the outer peripheral surface of the second centering sleeve 14. As shown in FIG. 4, the second limiting step 140 is configured to abut on the first centering sleeve 12 to restrict the second centering sleeve 14 from falling away from the first centering sleeve 12.
  • the inner wall of the upper end of the first centering sleeve 12 is provided with an annular groove, and the groove can abut against and fit with the second limit step 140 , So that the second centering sleeve 14 can abut on the first centering sleeve 12, and at the same time, the influence of the second centering sleeve 14 on the first return spring 21 is also avoided.
  • the second limiting step 140 of the second centering sleeve 14 may also directly abut on the upper surface of the first centering sleeve 12, and the second limiting step 140 may abut on the first The part of the upper surface of the centering sleeve 12 ensures that the first return spring 21 will not affect the second centering sleeve 14.
  • a third limit step 110 is formed on the inner circumferential surface of the transmission sleeve 11, the upper end of the first return spring 21 abuts the third limit step 110, and the lower end of the first return spring 21 abuts Holds on the upper end surface of the first centering sleeve 12, the upper end of the second return spring 22 resists the third limit step 110, and the lower end of the second return spring 22 resists the upper end surface of the second centering sleeve 14 .
  • the possible installation method of the first return spring 21 and the second return spring 22 is that the third limit step 110 is provided in the transmission sleeve 11 so that the first return spring 21 and the second return spring 22 are respectively against Connected to the third step and between the first centering sleeve 12 and the second centering sleeve 14, its structure is simple, the manufacturing is convenient, and it is easy to promote. At the same time, because of the abutment, it is also easy to assemble, saving manufacturing cost.
  • the upper ends of the first return spring 21 and the second return spring 22 may also be directly bonded or welded to the inner wall of the transmission sleeve 11.
  • FIG. 5 shows the specific structure of the valve manipulator 10 in this embodiment from a fifth perspective.
  • the valve manipulator 10 further includes a transmission shaft 15 and a third return spring 23.
  • the upper end of the transmission sleeve 11 is sleeved on the transmission shaft 15 and is keyed to the transmission shaft 15.
  • the transmission shaft 15 Connected to the output end of the driving device 10a, the third return spring 23 is arranged between the transmission sleeve 11 and the driving device 10a and is configured to apply a downward elastic force to the transmission sleeve 11.
  • the transmission sleeve 11 and the transmission shaft 15 are connected by a key, so that the transmission sleeve 11 can slide axially relative to the transmission shaft 15.
  • the valve manipulator 10 is adapted to ball valves of different heights
  • the screw caps of ball valves of different heights It can abut against the transmission sleeve 11, so that the transmission sleeve 11 is displaced in the axial direction.
  • the transmission sleeve 11 can always abut the upper surface of the screw cap to ensure the transmission sleeve 11 stability, and coaxiality with the screw cap.
  • the inner wall of the transmission sleeve 11 has an inner ring gear extending in the axial direction (as can be seen in Figure 4 ), the outer peripheral wall of the transmission shaft 15 is provided with external teeth, and the external teeth are slidably engaged with the internal gear ring.
  • the upper end surface of the transmission shaft 15 is provided with a through hole, and the output shaft of the driving device 10a is inserted into the through hole to be in transmission connection with the transmission shaft 15, and the transmission shaft 15 is the same as the output shaft of the driving device 10a. axis.
  • the driving device 10a includes a motor 10a1, a reducer 10a2, and a box body 10a3.
  • the motor 10a1 and the reducer 10a2 are arranged in the box body 10a3.
  • the output end of the motor 10a1 is connected to the input end of the reducer 10a2 to reduce
  • the output end of the device 10a2 extends out of the box body 10a3 to be connected with the transmission shaft 15.
  • the third return spring 23 is sleeved on the transmission sleeve 11, the upper end of the third return spring 23 abuts against the box body 10a3, and the third return spring 23 The lower end abuts against the transmission sleeve 11.
  • the outer wall of the transmission sleeve 11 is formed with a step that is recessed in the radial direction, and the step can abut against the third return spring 23. It should also be noted that, in other specific embodiments, the The step on the outer wall may also be provided with a washer, so that the third return spring 23 abuts on the washer, thereby protecting the appearance of the transmission sleeve 11.
  • the first through hole formed by the drive fork 13 can adapt to the first type of screw cap and can be compatible with the first specification of the screw cap.
  • the valve handle screw cap is socketed; further, in order to meet the second specification of the valve handle screw cap, by providing a first middle sleeve 12 inside the transmission sleeve 11, the first centering sleeve 12 can be adapted ( Socketing)
  • the second type of screw cap where the first centering sleeve 12 and the driving fork 13 are socketed so that the first centering sleeve 12 can be in the first through hole and the inner edge of the driving sleeve 11 Axial movement; further, in order to meet the valve handle screw cap of the third specification, the second centering sleeve 14 is provided inside the first middle sleeve 12, and the first centering sleeve 14 can be adapted (set Next)
  • the diameter of the first through hole formed by the drive fork 13 needs to be able to adapt to the maximum specification screw cap, can be socketed with the maximum specification valve handle screw cap, and then the diameter of the hole is sequentially adjusted Just reduce it.
  • the valve manipulator 10 further includes a clamping mechanism, the clamping mechanism is configured to be fixed on the pipeline, and the clamping mechanism is fixedly connected to the driving device 10a.
  • the clamping mechanism includes two clamping hands 10b.
  • the clamping hands 10b include a first clamping member 10b1, a second clamping member 10b2, and an adjusting screw 10b3.
  • FIG. 6 shows the specific structure of the gripping hand 10b.
  • the upper end of the first clamping piece 10b1 has a hinge portion extending to the second clamping piece 10b2, the hinge portion is hinged to the upper end of the second clamping piece 10b2, and the first clamping piece 10b1 and the second clamping piece 10b2 jointly define the clamp
  • the upper section of the first clamping member 10b1 is provided with a first screw hole
  • the upper section of the second clamping member 10b2 is provided with a second screw hole
  • the adjusting screw 10b3 is threadedly engaged with the first screw hole and the second screw hole.
  • the upper end surfaces of the two first clamping members 10b1 jointly fix the driving device 10a.
  • the foregoing provides a possible solution for fixing the driving device 10a on the pipeline.
  • the driving device 10a is fixed by a clamping mechanism, so that the driving device 10a can maintain the relative positional relationship with the pipeline, so that the valve manipulator 10 can be stably Coupling ball valve.
  • the clamping mechanism includes two clamping hands 10b, and the two clamping hands 10b are fixed on the pipes on both sides of the driving device 10a, so that the driving device 10a is stably fixed.
  • first clamping member 10b1 and the second clamping member 10b2 in the gripper 10b are clamped and opened by adjusting the rotation of the screw 10b3, so that the first clamping member 10b1 and the second clamping member 10b2 It can easily clamp and exit the pipe.
  • the driving device 10a can be directly welded to the pipeline to maintain the relative positional relationship with the pipeline.
  • the number of gripping hands 10b in the gripping mechanism is not limited, so as to achieve stable gripping of the driving device 10a.
  • the gripper 10b also includes a first assembly rod 10b4 and a second assembly rod 10b5.
  • the center of the first assembly rod 10b4 is provided with a first screw hole
  • the center of the second assembly rod 10b5 is provided with a second screw hole. .
  • the first assembly rod 10b4 passes through the upper section of the first clamping member 10b1, the outer wall of the first clamping member 10b1 is provided with a through hole, the first screw hole is exposed to the through hole of the first clamping member 10b1, and the second assembly rod 10b5 penetrates the upper section of the second clamping member 10b2, the outer wall of the second clamping member 10b2 is provided with a through hole, and the second screw hole is exposed to the through hole of the second clamping member 10b2.
  • the front section of the adjusting screw 10b3 forms a first thread
  • the rear section of the adjusting screw 10b3 forms a second thread.
  • the diameter of the first thread is smaller than the diameter of the second thread.
  • the first thread and the second thread are positive and negative threads.
  • the first screw hole and the second screw hole in the gripper 10b are conveniently and simply realized, thereby effectively improving manufacturing efficiency and reducing manufacturing difficulty.
  • the adjusting screw 10b3 can be quickly matched with the first screw hole and the second screw hole, shortening the clamping and clamping of the first clamping member 10b1 and the second clamping member 10b2 in the clamping hand 10b. Opening time.
  • the gripper 10b also includes a hinge rod 10b6, the first clamping member 10b1 and the second clamping member 10b2 are two independent structures, through the assembly of the hinge rod 10b6 to achieve the first clamping The connection and articulation of the holding member 10b1 and the second holding member 10b2.
  • the hinge portion of the first clamping member 10b1 is provided with a through hole
  • the upper end of the second clamping member 10b2 is also provided with a through hole
  • the hinge rod 10b6 is inserted into the through hole of the hinge portion of the first clamping member 10b1 and the second In the through hole at the upper end of the clamping member 10b2.
  • valve manipulator 10 described in this embodiment can be conveniently and stably installed on the pipeline through two grippers 10b.
  • the drive fork 13, the first return spring 21 and the second return spring 22 can adapt to screw caps of different diameters, through the transmission shaft 15 and the transmission shaft
  • the fit of 15 sets can be adapted to ball valves of different heights. Due to the coaxial arrangement of the first centering sleeve 12, the second centering sleeve 14, the driving fork 13, the transmission shaft 15 and the transmission shaft 15 described above, the The axis of the power output of the valve manipulator 10 in this embodiment can be coaxial with the rotation axis of the valve handle.
  • the valve manipulator further includes a clamping mechanism, the clamping mechanism is configured to be fixed on the pipeline, and the clamping mechanism is connected to the driving device through the buckle. Connection; the buckle portion is provided with a sliding member, and the sliding member of the buckle portion is configured to enable the clamping mechanism to slide relative to the driving device.
  • the clamping mechanism can be connected to the driving device by using the buckle portion, wherein the buckle portion may include a buckle portion connected in a wedge-shaped fit, and the clamping mechanism can be used to clamp the pipeline due to the buckle
  • the sliding part is arranged on the part, so that the clamping mechanism can be adjusted appropriately according to the length of the pipeline, and the pipeline can be more conveniently clamped and easily exited.
  • the clamping mechanism may include two grippers, and the two grippers are provided with two buckle portions corresponding to each other. Both grippers can slide relative to the driving device through the sliding member of the buckle portion, and are configured to make the two The two grippers move in opposite or opposite directions.
  • the valve manipulator 10 described in this embodiment can be conveniently and stably installed on the pipeline through two grippers 10b.
  • the two grippers are connected to the driving device through the buckle.
  • the two grippers can be moved in opposite directions, so that the distance between the two grippers is lengthened;
  • the two grippers can be moved in opposite directions, so that the distance between the two grippers is shortened, so that the gripping mechanism can be adjusted more flexibly according to the length of the pipeline.
  • the valve manipulator provided in the embodiments of the application can adapt to screw caps of different diameters and ball valves of different heights, and the axis of power output can be coaxial with the rotation axis of the handle of the valve, so that the valve manipulator can adapt to ball valves of various specifications.

Abstract

一种阀门机械手（10），包括驱动装置(10a)、传动套筒(11)、第一复位弹簧(21)、配置成套接阀门把手螺丝帽的第一对中套筒(12)、以及配置成耦合阀门把手的驱动叉(13)；传动套筒(11)的下端与所述驱动叉(13)连接，驱动叉(13)具有配置成套接阀门把手螺丝帽的第一通孔，第一通孔与传动套筒(11)同轴，驱动叉(13)通过第一通孔套接于第一对中套筒(12)以使得对中套筒(12)能在传动套筒(11)内沿其轴向运动；第一复位弹簧(21)配置成向第一对中套筒(12)施加向下的弹性力，驱动装置(10a)与传动套筒（11）的上端传动连接，以通过传动套筒（11）带动驱动叉（13）旋转。

Description

一种阀门机械手
相关申请的交叉引用
本申请要求于2019年06月12日提交中国专利局的申请号为201910505506.0、名称为“一种阀门机械手”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及阀门控制技术领域，具体而言，涉及一种阀门机械手。
背景技术
阀门机械手为控制家用与工业用的流体球阀开关的机械，然而，现有的阀门机械手不能适应不同规格的球阀。
申请内容
本申请提供了一种阀门机械手，该阀门机械手能够适应至少两种规格及以上的球阀。
第一方面，提供了一种阀门机械手，包括驱动装置、传动套筒、第一复位弹簧、配置成套接阀门把手螺丝帽的第一对中套筒、以及配置成耦合阀门把手的驱动叉。其中，传动套筒的下端与驱动叉连接，驱动叉具有配置成套接阀门把手螺丝帽的第一通孔，第一通孔与传动套筒同轴，驱动叉通过第一通孔套接于第一对中套筒以使得第一对中套筒能在传动套筒内沿其轴向运动。第一复位弹簧配置成向第一对中套筒施加向下的弹性力，驱动装置与传动套筒的上端传动连接，以通过传动套筒带动驱动叉旋转。
上述方案中，提供一种阀门机械手，该阀门机械手配置成控制现有的球阀的开闭，其中，阀门机械手安装于现有的具有球阀的管道上，驱动装置与该管道保持固定的位置关系，驱动叉与球阀的把手耦合，通过驱动装置输入动力，通过传动套筒使得驱动叉转动，从而使得驱动叉能够拨动阀门的把手。其中，为使得该阀门机械手适应多种球阀(申请人发现不同规格的球阀给阀门机械手带来的困难在于安装把手的螺丝帽尺寸不同，同 时若需要可靠地驱动把手的转动，则需要将驱动叉的转动轴线共线与把手的转动轴线，即，申请人发现若需要取得好的控制效果，需要阀门机械手适应不同尺寸的螺丝帽，同时阀门机械手输出的转动轴线与把手的转动轴线对中)，驱动叉在本申请中除了在耦合把手的作用之外，其第一通孔还能够适应螺丝帽(为清楚区分，这里认定为第一螺丝帽)，为了适应(套接)另一种尺寸的螺丝帽(即，适应另一种尺寸的球阀，同时，为清楚区分，这里认定为第二螺丝帽)，本申请中还包括了第一对中套筒，第一对中套筒可适应(套接)另一种螺丝帽，其中，由于第一对中套筒与驱动叉是套接的关系使得第一对中套筒能够在第一通孔内以及传动套筒内沿轴向运动，通过第一复位弹簧对第一对中套筒的作用，能够使得在适应第二螺丝帽时，第一对中套筒在弹性力的作用下，能够稳定地套接第二螺丝帽，在适应第一螺丝帽时，第一对中套筒能够在第一螺丝帽抵靠的作用下，克服第一复位弹簧的弹性力向上滑动，以保证驱动叉的第一通孔能够套接第一螺丝帽。同时，由于第一通孔与传动套筒同轴、第一对中套筒与第一通孔同轴，保证了本申请中阀门机械手的动力输出的转动轴能够实现与把手的转动轴同轴线。
在一种可能的实现方式中，驱动叉的表面开设有螺孔，传动套筒的外周壁延伸有安装块，安装块开设有螺孔，传动套筒通过安装块与驱动叉通过螺栓固定连接。
在一种可能的实现方式中，第一对中套筒的下端面与第一通孔的下边缘平齐。
上述方案中，提供了一种可能实现的第一对中套筒与驱动叉在未工作状态，或者说在仅驱动叉应配置成套接螺丝帽时，第一对中套筒的与驱动叉的相对位置关系，其中，上述如此设计，可使得第一对中套筒以及与其连接的第一复位弹簧得到保护，同时，在适应另一种尺寸的螺丝帽时(如上文的第二螺丝帽)，第一对中套筒能够快速的套接在该螺丝帽上，提高阀门机械手的安装于球阀的效率。
可选地，在一种可能的实现方式中，第一通孔的孔径小于传动套筒的内径，第一对中套筒的外周面上形成有第一限位台阶，第一限位台阶配置成抵持在驱动叉的上表面上，以限制第一对中套筒向下脱离驱动叉。
上述方案中，提供一种能够实现的能够限制第一对中套筒行程的设计，其中，通过限制第一通孔的孔径小于传动套筒的内径，使得驱动叉的部分上表面能够遮挡传动套筒的部分，从而形成一个环形的遮挡部，在第一对中套筒的外周面形成第一限位台阶，使得第一对中套筒在第一复位弹簧的弹性力作用下，抵靠在驱动叉的上表面(环形的遮挡部)，从而保证了第一对中套筒能够正常工作。
可选地，在其他具体实施方式中，传动套筒靠近驱动叉的一端的内壁处设置有环形凸块，环形凸块形成通孔的孔径大于或等于第一通孔的孔径，第一对中套筒的外周面上形成有第一限位台阶，第一限位台阶配置成抵持在环形凸块的上表面上，以限制第一对中套筒向下脱离环形凸块。
可选地，在一种可能的实现方式中，阀门机械手还包括第二复位弹簧和配置成套接阀门把手螺丝帽的第二对中套筒，第一对中套筒套接于第二对中套筒以使得第二对中套筒能在第一对中套筒内沿其轴向运动；
第二复位弹簧配置成向第二对中套筒施加向下的弹性力。
上述方案中，阀门机械手还可以适应另外一种尺寸的螺丝帽，其中，第二对中套筒配置成套接另一种螺丝帽(其中，为清楚描述以及承接上文描述的，这里第二对中套筒套接的螺丝帽为第三螺丝帽)。其中，第二对中套筒能在第一对中套筒中滑动同时其与第一对中套筒、传动套筒以及驱动叉同轴设置。由于第二复位弹簧的存在，使得驱动叉、第一对中套筒能够分别正常的套接不同尺寸的螺丝帽，同时，也保证了第二对中套筒的正常工作。
可选地，第二对中套筒与第一对中套筒、传动套筒以及驱动叉呈同轴设置
可选地，在一种可能的实现方式中，第二对中套筒的外周面上形成有第二限位台阶，第二限位台阶配置成抵持在第一对中套筒上，以限制第二对中套筒向下脱离第一对中套筒。
可选地，在一种可能的实现方式中，第一对中套筒的上端的内壁开设有呈环形的凹 槽，凹槽能够与第二限位台阶抵靠配合，以使第二对中套筒能够抵接在第一对中套筒上。
上述方案中，提供了一种可能实现的能够限制第二对中套筒行程的结构，该结构简单有效，制造方便，同时保证了第二对中套筒的正常工作。
可选地，在一种可能的实现方式中，传动套筒的内周面上形成有第三限位台阶，第一复位弹簧的上端抵持于第三限位台阶，第一复位弹簧的下端抵持于第一对中套筒的上端面，第二复位弹簧的上端抵持于第三限位台阶，第二复位弹簧的下端抵持于第二对中套筒的上端面。
上述方案中，提供了一种第一复位弹簧和第二复位弹簧的可能实现的安装方式，通过在传动套筒内设置第三限位台阶，使得第一复位弹簧和第二复位弹簧分别抵接在第三台阶以及第一对中套筒和第二对中套筒之间，其结构简单，制造方便，便于推广，同时，由于是抵接的原因，也便于装配，节省了制造成本。
可选地，在一种可能的实现方式中，阀门机械手还包括传动轴和第三复位弹簧，传动套筒的上端套接在传动轴上且与传动轴键连接，传动轴与驱动装置的输出端连接，第三复位弹簧设置在传动套筒和驱动装置之间，配置成向传动套筒施加向下的弹性力。
可选地，在一种可能的实现方式中，传动轴的上端面开设有通孔，驱动装置的输出轴插入于传动轴的通孔中，配置成与传动轴传动连接，传动轴与驱动装置的输出轴呈同轴设置。
上述方案中，传动套筒与传动轴是键连接的，使得传动套筒能够相对于传动轴沿轴向滑动，当该阀门机械手适应不同高度的球阀时，不同高度的球阀的螺丝帽能够抵靠传动套筒，使得传动套筒在轴向上位移，同时，由于第三复位弹簧的弹性力，使得传动套筒能够始终抵靠螺丝帽的上表面，保证传动套筒的稳定性，以及与螺丝帽的同轴度。
可选地，在一种可能的实现方式中，驱动装置包括电机、减速器和箱体，电机和减速器设置在箱体内，电机的输出端与减速器的输入端相连，减速器的输出端伸出箱体以与传动轴相连，第三复位弹簧套设在传动套筒上，第三复位弹簧的上端抵接于箱体，第 三复位弹簧的下端抵接于传动套筒。
可选地，在一种可能的实现方式中，传动套筒的外壁设置有径向凹陷的台阶，台阶能够抵接第三复位弹簧。
可选地，在一种可能的实现方式中，阀门机械手还包括夹持机构，夹持机构配置成固定于管道上，夹持机构与驱动装置固定连接；
夹持机构包括两个夹手，夹手包括第一夹持件、第二夹持件以及调节螺杆；
第一夹持件的上端具有向第二夹持件延伸的铰接部，铰接部与第二夹持件的上端铰接，第一夹持件和第二夹持件共同限定夹持空间，第一夹持件的上段设置有第一螺孔，第二夹持件的上段设置有第二螺孔，调节螺杆与第一螺孔和第二螺孔螺纹配合；
两个第一夹持件的上端面共同固定驱动装置。
上述方案中，提供一种驱动装置固定于管道上的可能实现的方案，通过夹持机构将驱动装置固定，使得驱动装置能够保持与管道的相对位置关系，从而使得阀门机械手能够稳定地耦合球阀。其中，夹持机构包括两个夹手，通过两个夹手固定在驱动装置的两侧的管道上，使得驱动装置稳定地固定。
可选地，在一种可能的实现方式中，夹手包括第一装配杆和第二装配杆，第一装配杆的中心设置第一螺孔，第二装配杆的中心设置第二螺孔；
第一装配杆穿设于第一夹持件的上段，第一夹持件的外壁开设有通孔，第一螺孔暴露于第一夹持件的通孔，第二装配杆穿设于第二夹持件的上段，第二夹持件的外壁开设有通孔，第二螺孔暴露于第二夹持件的通孔；
调节螺杆的前段形成第一螺纹，调节螺杆的后段形成第二螺纹，第一螺纹的直径小于第二螺纹的直径，第一螺纹和第二螺纹为正反牙螺纹。
上述方案，提供一种可能实现的夹手的具体结构，通过第一装配杆和第二装配杆，方便简单的实现了夹手中的第一螺孔和第二螺孔，从而有效地提高了制造效率，降低了制造难度，同时，由于应用了正反牙螺纹，使得调节螺杆能够快速地与第一螺孔和第二 螺孔配合，缩短了夹手中第一夹持件和第二夹持件的夹持和张开的时间。
可选地，在一种可能的实现方式中，夹手还包括一个铰接杆，第一夹持件和第二夹持件通过铰接杆装配。
其中，第一夹持件的铰接部开设有通孔，且第二夹持件的上端开设有通孔，铰接杆插入于第一夹持件的铰接部的通孔和第二夹持件的上端的通孔中。
可选地，在一种可能的实现方式中，所述阀门机械手还包括夹持机构，所述夹持机构配置成固定于管道上，所述夹持机构通过卡扣部与所述驱动装置连接；
所述卡扣部设置有滑动件，所述卡扣部的滑动件配置成使所述夹持机构能够相对于所述驱动装置滑动。
可选地，所述夹持机构包括两个夹手，两个所述夹手对应设置有两个所述卡扣部，两个所述夹手均能够通过所述卡扣部的所述滑动件相对于所述驱动装置滑动，配置成使两个所述夹手之间相向或相反方向移动。
附图说明
为了更清楚地说明本申请实施例的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，应当理解，以下附图仅示出了本申请的某些实施例，因此不应被看作是对范围的限定，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他相关的附图。
图1为本申请实施例中阀门机械手在第一视角下的结构示意图；
图2为本申请实施例中阀门机械手在第二视角下的结构示意图；
图3为本申请实施例中阀门机械手在第三视角下的结构示意图；
图4为本申请实施例中阀门机械手在第四视角下的结构示意图；
图5为本申请实施例中阀门机械手在第五视角下的结构示意图；
图6为本申请实施例中夹手的结构示意图；
图7为本申请实施例中阀门机械手具有卡扣部的结构示意图；
图8为图7实施例中阀门机械手的侧面结构示意图。
图标：10-阀门机械手；10a-驱动装置；10b-夹手；11-传动套筒；12-第一对中套筒；13-驱动叉；14-第二对中套筒；15-传动轴；21-第一复位弹簧；22-第二复位弹簧；23-第三复位弹簧；110-第三限位台阶；120-第一限位台阶；140-第二限位台阶；10a1-电机；10a2-减速器；10a3-箱体；10b1-第一夹持件；10b2-第二夹持件；10b3-调节螺杆；10b4-第一装配杆；10b5-第二装配杆；10b6-铰接杆；30-卡扣部。
具体实施方式
为使本申请实施例的目的、技术方案和优点更加清楚，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。通常在此处附图中描述和示出的本申请实施例的组件可以以各种不同的配置来布置和设计。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。
下面将结合附图，对本申请中的技术方案进行描述。
本实施例提供了一种阀门机械手10，该阀门机械手10能够适应多种尺寸的球阀，同时能够使得阀门机械手10的动力输出的转动轴线与球阀把手的转动轴线处于同一直线。
请参考图1、图2以及图3，图1示出了阀门机械手10在第一视角下的具体结构，图2示出了阀门机械手10在第二视角下的具体结构，图3示出了阀门机械手10在第三视角下的具体结构。
其中，图2示出了本实施例中阀门机械手10的一种应用场景图，由图2可看出，该阀门机械手10是固定在管道上的，该管道上具有一球阀，阀门机械手10配置成控制球阀的把手的转动。
由图1、图2和图3可以看出，阀门机械手10包括驱动装置10a、传动套筒11、第 一复位弹簧21、配置成套接阀门把手螺丝帽的第一对中套筒12、以及配置成耦合阀门把手的驱动叉13。
传动套筒11的下端与驱动叉13连接，驱动叉13具有配置成套接阀门把手螺丝帽的第一通孔(在图3中可以看出该通孔结构)，第一通孔与传动套筒11同轴，驱动叉13通过第一通孔套接于第一对中套筒12以使得第一对中套筒12能在传动套筒11内沿其轴向运动。第一复位弹簧21配置成向第一对中套筒12施加向下的弹性力，驱动装置10a与传动套筒11的上端传动连接，以通过传动套筒11带动驱动叉13旋转。
其中，该阀门机械手10配置成控制现有的球阀的开闭，其中，阀门机械手10安装于现有的具有球阀的管道上，驱动装置10a与该管道保持固定的位置关系，驱动叉13与球阀的把手耦合，通过驱动装置10a输入动力，通过传动套筒11使得驱动叉13转动，从而使得驱动叉13能够拨动阀门的把手。其中，为使得该阀门机械手10适应多种球阀(申请人发现不同规格的球阀给阀门机械手10带来的困难在于安装把手的螺丝帽尺寸不同，同时若需要可靠地驱动把手的转动，则需要将驱动叉13的转动轴线共线与把手的转动轴线，即，申请人发现若需要取得好的控制效果，需要阀门机械手10适应不同尺寸的螺丝帽，同时阀门机械手10输出的转动轴线与把手的转动轴线对中)，驱动叉13在本申请中除了在耦合把手的作用之外，其第一通孔还能够适应螺丝帽(为清楚区分，这里认定为第一螺丝帽)，为了适应(套接)另一种尺寸的螺丝帽(即，适应另一种尺寸的球阀，同时，为清楚区分，这里认定为第二螺丝帽)，本申请中还包括了第一对中套筒12，第一对中套筒12可适应(套接)另一种螺丝帽，其中，由于第一对中套筒12与驱动叉13是套接的关系使得第一对中套筒12能够在第一通孔内以及传动套筒11内沿轴向运动，通过第一复位弹簧21对第一对中套筒12的作用，能够使得在适应第二螺丝帽时，第一对中套筒12在弹性力的作用下，能够稳定地套接第二螺丝帽，在适应第一螺丝帽时，第一对中套筒12能够在第一螺丝帽抵靠的作用下，克服第一复位弹簧21的弹性力向上滑动，以保证驱动叉13的第一通孔能够套接第一螺丝帽。同时，由于第 一通孔与传动套筒11同轴、第一对中套筒12与第一通孔同轴，保证了本申请中阀门机械手10的动力输出的转动轴能够实现与把手的转动轴同轴线。
其中，需要说明的是，上述提出的驱动叉13与球阀的把手耦合是指，驱动叉13能够卡住球阀的把手，使得驱动叉13在传动套筒11的转动下，能够带动球阀的把手的转动，同时，球阀的把手的转动角度与驱动叉13的转动角度一致。
同时，需要说明的是，在本实施例中，如图1中所示，驱动叉13是通过螺栓固定在传动套筒11上的，驱动叉13的表面开设有螺孔，传动套筒11的外周壁延伸有安装块，安装块同样开设有螺孔，通过螺栓进行固定。在其他具体实施方式中，驱动叉13与传动套筒11的安装方式还可以通过其他的连接关系，例如，驱动叉13焊接或者粘接于传动套筒11上，亦或者驱动叉13与传动套筒11一体成型。
可选地，在一种可能实现的实施方式中，第一对中套筒12的下端面与第一通孔的下边缘平齐。
其中，上述方案提供了一种可能实现的第一对中套筒12与驱动叉13在未工作状态，或者说在仅驱动叉13应配置成套接螺丝帽时，第一对中套筒12的与驱动叉13的相对位置关系，其中，上述如此设计，可使得第一对中套筒12以及与其连接的第一复位弹簧21得到保护，同时，在适应另一种尺寸的螺丝帽时(如上文的第二螺丝帽)，第一对中套筒12能够快速的套接在该螺丝帽上，提高阀门机械手10的安装于球阀的效率。
需要说明的是，当第一对中套筒12的下端面与第一通孔的下边缘平齐时，此时第一复位弹簧21处于平衡状态。
需要说明的是，在其他具体实施方式中，并不限定第一对中套筒12和驱动叉13的下端面是否处于同一平面，例如，第一对中套筒12的下端面还可以在驱动叉13的内腔内，其在驱动叉13的内腔内能够保护第一对中套筒12。
可选地，在一种可能实现的实施方式中，第一通孔的孔径小于传动套筒11的内径，第一对中套筒12的外周面上形成有第一限位台阶120，第一限位台阶120配置成抵持在 驱动叉13的上表面上，以限制第一对中套筒12向下脱离驱动叉13。
上述提供一种能够实现的能够限制第一对中套筒12行程的设计方案，其中，通过限制第一通孔的孔径小于传动套筒11的内径，使得驱动叉13的部分上表面能够遮挡传动套筒11的部分，从而形成一个环形的遮挡部，在第一对中套筒12的外周面形成第一限位台阶120，使得第一对中套筒12在第一复位弹簧21的弹性力作用下，抵靠在驱动叉13的上表面(环形的遮挡部)，从而保证了第一对中套筒12能够正常工作。
需要说明的是，在其他具体实施方式中，可通过在传动套筒11的内壁设计可使得第一对中套筒12行程得到限制的结构，例如在传动套筒11内设置一环形抵靠凸块以替换上述提出的环形的遮挡部。
具体地，传动套筒11靠近驱动叉13的一端的内壁处设置有环形凸块，环形凸块形成通孔的孔径大于或等于第一通孔的孔径，第一对中套筒的外周面上形成有第一限位台阶，第一限位台阶配置成抵持在环形凸块的上表面上，以限制第一对中套筒向下脱离环形凸块。
可选地，在一种可能实现的实施方式中，如图4，图4示出了本实施例中阀门机械手10在第四视角下的具体结构。
阀门机械手10还包括第二复位弹簧22和配置成套接阀门把手螺丝帽的第二对中套筒14，第一对中套筒12套接于第二对中套筒14以使得第二对中套筒14能在第一对中套筒12内沿其轴向运动，第二复位弹簧22配置成向第二对中套筒14施加向下的弹性力。
其中，阀门机械手10还可以适应另外一种尺寸的螺丝帽，其中，第二对中套筒14配置成套接另一种螺丝帽(其中，为清楚描述以及承接上文描述的，这里第二对中套筒14套接的螺丝帽为第三螺丝帽)。其中，第二对中套筒14能在第一对中套筒12中滑动同时其与第一对中套筒12、传动套筒11以及驱动叉13同轴设置。由于第二复位弹簧22的存在，使得驱动叉13、第一对中套筒12能够分别正常的套接不同尺寸的螺丝帽， 同时，也保证了第二对中套筒14的正常工作。
需要说明的是，如上述描述的第一对中套筒12和第二对中套筒14一致，在其他具体实施方式中，还可以设置第三对中套筒、第四对中套筒等，同时配合可复位的结构，以实现第四种、第五种等螺丝帽的适应效果。
可选地，在一种可能实现的实施方式中，第二对中套筒14的外周面上形成有第二限位台阶140。如图4，第二限位台阶140配置成抵持在第一对中套筒12上，以限制第二对中套筒14向下脱离第一对中套筒12。
需要说明的是，如图4所示，本实施例中，第一对中套筒12的上端的内壁是开设有呈环形的凹槽，该凹槽能够与第二限位台阶140抵靠配合，以使得第二对中套筒14能够抵接在第一对中套筒12上，同时，也避免了第二对中套筒14对第一复位弹簧21的影响。在其他具体实施方式中，第二对中套筒14的第二限位台阶140还可以直接抵接在第一对中套筒12的上表面上，第二限位台阶140抵接在第一对中套筒12的上表面的部分以保证第一复位弹簧21不会影响第二对中套筒14。
其中，上述通过第二限位台阶140抵接于第一对中套筒12的方式限制第二对中套筒14的行程，使得第二对中套筒14结构简单有效，制造方便，同时保证了第二对中套筒14的正常工作。
进一步地，如图4，传动套筒11的内周面上形成有第三限位台阶110，第一复位弹簧21的上端抵持于第三限位台阶110，第一复位弹簧21的下端抵持于第一对中套筒12的上端面，第二复位弹簧22的上端抵持于第三限位台阶110，第二复位弹簧22的下端抵持于第二对中套筒14的上端面。
其中，上述第一复位弹簧21和第二复位弹簧22的可能实现的安装方式，通过在传动套筒11内设置第三限位台阶110，使得第一复位弹簧21和第二复位弹簧22分别抵接在第三台阶以及第一对中套筒12和第二对中套筒14之间，其结构简单，制造方便，便于推广，同时，由于是抵接的原因，也便于装配，节省了制造成本。
在其他具体实施方式中，第一复位弹簧21和第二复位弹簧22的上端还可以直接粘接或者焊接于传动套筒11的内壁。
可选地，请参考图5，图5示出了本实施例中阀门机械手10在第五视角下的具体结构。
在一种可能的实现的实施方式中，阀门机械手10还包括传动轴15和第三复位弹簧23，传动套筒11的上端套接在传动轴15上且与传动轴15键连接，传动轴15与驱动装置10a的输出端连接，第三复位弹簧23设置在传动套筒11和驱动装置10a之间，配置成向传动套筒11施加向下的弹性力。
其中，传动套筒11与传动轴15是键连接的，使得传动套筒11能够相对于传动轴15沿轴向滑动，当该阀门机械手10适应不同高度的球阀时，不同高度的球阀的螺丝帽能够抵靠传动套筒11，使得传动套筒11在轴向上位移，同时，由于第三复位弹簧23的弹性力，使得传动套筒11能够始终抵靠螺丝帽的上表面，保证传动套筒11的稳定性，以及与螺丝帽的同轴度。
需要说明的是，上述描述的传动套筒11与传动轴15是键连接的具体结构在本实施例中为，传动套筒11内壁具有沿轴向延伸的内齿圈(图4中可以看出)，传动轴15的外周壁设置有外齿，外齿可滑动地啮合于内齿圈。
其中，需要说明的是，传动轴15的上端面开设有通孔，驱动装置10a的输出轴插入于该通孔中，从而与传动轴15传动连接，传动轴15与驱动装置10a的输出轴同轴。
进一步地，如图3，驱动装置10a包括电机10a1、减速器10a2和箱体10a3，电机10a1和减速器10a2设置在箱体10a3内，电机10a1的输出端与减速器10a2的输入端相连，减速器10a2的输出端伸出箱体10a3以与传动轴15相连，第三复位弹簧23套设在传动套筒11上，第三复位弹簧23的上端抵接于箱体10a3，第三复位弹簧23的下端抵接于传动套筒11。
需要说明的是，传动套筒11的外壁形成有一向径向凹陷的台阶，该台阶能够抵接 第三复位弹簧23，同时亦需要说明的是，在其他具体实施方式中，传动套筒11的外壁上的台阶还可以设置有一垫片，使得第三复位弹簧23抵接于垫片上，从而保护了传动套筒11的外表。
需要说明的是，如图3和图4所示，为了满足第一种规格的阀门把手螺丝帽，驱动叉13形成的第一通孔能够适应第一种螺丝帽，能够与第一种规格的阀门把手螺丝帽进行套接；进一步地，为了满足第二种规格的阀门把手螺丝帽，通过在传动套筒11的内部设置有第一中套筒12，第一对中套筒12可适应(套接)第二种螺丝帽，其中，由于第一对中套筒12与驱动叉13是套接的关系使得第一对中套筒12能够在第一通孔内以及传动套筒11内沿轴向运动；进一步地，为了满足第三种规格的阀门把手螺丝帽，通过在第一中套筒12的内部设置有第二对中套筒14，第而对中套筒14可适应(套接)第三种螺丝帽，根据上述结构的进一步在第二对中套筒14内部可是设置有第三对中套筒、第四对中套筒以及第五对中套筒，同时配合可复位的结构，以实现第四种、第五种及第六种螺丝帽的适应效果，此处不再赘述。
其中，为了满足最大规格的阀门把手螺丝帽，驱动叉13形成的第一通孔的孔径需要能够适应最大规格的螺丝帽，能够与最大规格的阀门把手螺丝帽进行套接，然后依次进行孔径的减小即可。
进一步地，请重新参考图2。
在一种可能实现的实施方式中，阀门机械手10还包括夹持机构，夹持机构配置成固定于管道上，夹持机构与驱动装置10a固定连接。夹持机构包括两个夹手10b，夹手10b包括第一夹持件10b1、第二夹持件10b2以及调节螺杆10b3。
其中，请参考图6，图6示出了夹手10b的具体结构。
第一夹持件10b1的上端具有向第二夹持件10b2延伸的铰接部，铰接部与第二夹持件10b2的上端铰接，第一夹持件10b1和第二夹持件10b2共同限定夹持空间，第一夹持件10b1的上段设置有第一螺孔，第二夹持件10b2的上段设置有第二螺孔，调节螺杆 10b3与第一螺孔和第二螺孔螺纹配合。两个第一夹持件10b1的上端面共同固定驱动装置10a。
其中，上述提供一种驱动装置10a固定于管道上的可能实现的方案，通过夹持机构将驱动装置10a固定，使得驱动装置10a能够保持与管道的相对位置关系，从而使得阀门机械手10能够稳定地耦合球阀。其中，夹持机构包括两个夹手10b，通过两个夹手10b固定在驱动装置10a的两侧的管道上，使得驱动装置10a稳定地固定。具体地，夹手10b中的第一夹持件10b1和第二夹持件10b2通过调节螺杆10b3的旋转，实现夹持和张开，以使得第一夹持件10b1和第二夹持件10b2能够方便地夹持管道以及方便地退出管道。
需要说明的是，在其他具体实施方式中，驱动装置10a可直接焊接于管道上，以实现保持与管道的相对位置关系。在其他具体实施方式中，夹持机构中夹手10b的数量不作限制，以实现驱动装置10a的稳定夹持即可。
进一步地，请参见图6，夹手10b还包括第一装配杆10b4和第二装配杆10b5，第一装配杆10b4的中心设置第一螺孔，第二装配杆10b5的中心设置第二螺孔。
第一装配杆10b4穿设于第一夹持件10b1的上段，第一夹持件10b1的外壁开设有通孔，第一螺孔暴露于第一夹持件10b1的通孔，第二装配杆10b5穿设于第二夹持件10b2的上段，第二夹持件10b2的外壁开设有通孔，第二螺孔暴露于第二夹持件10b2的通孔。
调节螺杆10b3的前段形成第一螺纹，调节螺杆10b3的后段形成第二螺纹，第一螺纹的直径小于第二螺纹的直径，第一螺纹和第二螺纹为正反牙螺纹。
其中，通过第一装配杆10b4和第二装配杆10b5，方便简单的实现了夹手10b中的第一螺孔和第二螺孔，从而有效地提高了制造效率，降低了制造难度，同时，由于应用了正反牙螺纹，使得调节螺杆10b3能够快速地与第一螺孔和第二螺孔配合，缩短了夹手10b中第一夹持件10b1和第二夹持件10b2的夹持和张开的时间。
其中，请参见图6，夹手10b还包括了一个铰接杆10b6，第一夹持件10b1和第二 夹持件10b2是两个独立的结构，通过铰接杆10b6的装配，以实现第一夹持件10b1和第二夹持件10b2的连接以及铰接。
其中，第一夹持件10b1的铰接部开设有通孔，第二夹持件10b2的上端同样开设有通孔，铰接杆10b6插入于第一夹持件10b1的铰接部的通孔和第二夹持件10b2的上端的通孔中。
需要说明的是，本实施例中描述的阀门机械手10能够通过两个夹手10b方便稳定地安装于管道上。同时，通过及第一对中套筒12、第二对中套筒14、驱动叉13以及第一复位弹簧21和第二复位弹簧22能够适应不同直径的螺丝帽，通过传动轴15和传动轴15套的配合能够适应不同高度的球阀，通过由于上述描述的第一对中套筒12、第二对中套筒14、驱动叉13、传动轴15以及传动轴15套的同轴设置，使得本实施例中的阀门机械手10的动力输出的轴线能够与阀门的把手的转动轴线同轴。
如图7和图8所示，可选地，在一种可能的实现方式中，阀门机械手还包括夹持机构，夹持机构配置成固定于管道上，夹持机构通过卡扣部与驱动装置连接；卡扣部设置有滑动件，卡扣部的滑动件配置成使夹持机构能够相对于驱动装置滑动。
本实施例中，夹持机构与利用卡扣部能够与驱动装置连接，其中，卡扣部可以包括呈楔形配合连接的卡扣部，而且夹持机构能够在夹持管路时，由于卡扣部上设置有滑动件，从而夹持机构能够根据管路的长度进行适度的调整，可以更加方便地夹持管道以及方便地退出管道。
可选地，夹持机构可以包括两个夹手，两个夹手对应设置有两个卡扣部，两个夹手均能够通过卡扣部的滑动件相对于驱动装置滑动，配置成使两个夹手之间相向或相反方向移动。
其中，本实施例中描述的阀门机械手10能够通过两个夹手10b方便稳定地安装于管道上。同时，通过两个夹手均通过卡扣部与驱动装置连接，当管路较长时，可以将两个夹手呈相反的方向进行移动，使得两个夹手之间的间距加长；当管路较短时，可以将 两个夹手呈相向的方向进行移动，使得两个夹手之间的间距缩短，从而可以使得夹持机构更加灵活的根据管路的长度进行适度的调整。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。
工业实用性
本申请实施例提供的阀门机械手能够适应不同直径的螺丝帽，能够适应不同高度的球阀，动力输出的轴线能够与阀门的把手的转动轴线同轴，以使阀门机械手能够适应多种规格的球阀。

Claims (20)

  1. 一种阀门机械手，其特征在于，包括：
    驱动装置、传动套筒、第一复位弹簧、配置成套接阀门把手螺丝帽的第一对中套筒、以及配置成耦合阀门把手的驱动叉；
    所述传动套筒的下端与所述驱动叉连接，所述驱动叉具有配置成套接阀门把手螺丝帽的第一通孔，所述第一通孔与所述传动套筒同轴，所述驱动叉通过所述第一通孔套接于所述第一对中套筒以使得所述第一对中套筒能在所述传动套筒内沿其轴向运动；
    所述第一复位弹簧配置成向所述第一对中套筒施加向下的弹性力，所述驱动装置与所述传动套筒的上端传动连接，以通过所述传动套筒带动所述驱动叉旋转。
  2. 根据权利要求1所述的阀门机械手，其特征在于，
    所述第一对中套筒的下端面与所述第一通孔的下边缘平齐。
  3. 根据权利要求2所述的阀门机械手，其特征在于，
    所述第一通孔的孔径小于所述传动套筒的内径，所述第一对中套筒的外周面上形成有第一限位台阶，所述第一限位台阶配置成抵持在所述驱动叉的上表面上，以限制所述第一对中套筒向下脱离所述驱动叉。
  4. 根据权利要求2所述的阀门机械手，其特征在于，所述传动套筒靠近所述驱动叉的一端的内壁处设置有环形凸块，所述环形凸块形成通孔的孔径大于或等于所述第一通孔的孔径，所述第一对中套筒的外周面上形成有第一限位台阶，所述第一限位台阶配置成抵持在所述环形凸块的上表面上，以限制所述第一对中套筒向下脱离所述环形凸块。
  5. 根据权利要求1-4任一项所述的阀门机械手，其特征在于，
    所述阀门机械手还包括第二复位弹簧和配置成套接阀门把手螺丝帽的第二对中套筒，所述第一对中套筒套接于所述第二对中套筒以使得所述第二对中套筒能在所述第一对中套筒内沿其轴向运动；
    所述第二复位弹簧配置成向所述第二对中套筒施加向下的弹性力。
  6. 根据权利要求5所述的阀门机械手，其特征在于，所述第二对中套筒与所述第一对中套筒、传动套筒以及驱动叉呈同轴设置。
  7. 根据权利要求6所述的阀门机械手，其特征在于，
    所述第二对中套筒的外周面上形成有第二限位台阶，所述第二限位台阶配置成抵持在所述第一对中套筒上，以限制所述第二对中套筒向下脱离所述第一对中套筒。
  8. 根据权利要求7所述的阀门机械手，其特征在于，
    所述第一对中套筒的上端的内壁开设有呈环形的凹槽，所述凹槽能够与所述第二限位台阶抵靠配合，以使所述第二对中套筒能够抵接在第一对中套筒上。
  9. 根据权利要求5-8任一项所述的阀门机械手，其特征在于，
    所述传动套筒的内周面上形成有第三限位台阶，所述第一复位弹簧的上端抵持于所述第三限位台阶，所述第一复位弹簧的下端抵持于所述第一对中套筒的上端面，所述第二复位弹簧的上端抵持于所述第三限位台阶，所述第二复位弹簧的下端抵持于所述第二对中套筒的上端面。
  10. 根据权利要求5-9任一项所述的阀门机械手，其特征在于，
    所述阀门机械手还包括传动轴和第三复位弹簧，所述传动套筒的上端套接在所述传动轴上且与所述传动轴键连接，所述传动轴与所述驱动装置的输出端连接，所述第三复位弹簧设置在所述传动套筒和所述驱动装置之间，配置成向所述传动套筒施加向下的弹性力。
  11. 根据权利要求10所述的阀门机械手，其特征在于，
    所述传动轴的上端面开设有通孔，所述驱动装置的输出轴插入于所述传动轴的通孔中，配置成与所述传动轴传动连接，所述传动轴与所述驱动装置的输出轴呈同轴设置。
  12. 根据权利要求10或11所述的阀门机械手，其特征在于，
    所述驱动装置包括电机、减速器和箱体，所述电机和所述减速器设置在所述箱体内，所述电机的输出端与所述减速器的输入端相连，所述减速器的输出端伸出所述箱体以与 所述传动轴相连，所述第三复位弹簧套设在所述传动套筒上，所述第三复位弹簧的上端抵接于所述箱体，所述第三复位弹簧的下端抵接于所述传动套筒。
  13. 根据权利要求12所述的阀门机械手，其特征在于，
    所述传动套筒的外壁设置有径向凹陷的台阶，所述台阶能够抵接所述第三复位弹簧。
  14. 根据权利要求1-13任一项所述的阀门机械手，其特征在于，
    所述阀门机械手还包括夹持机构，所述夹持机构配置成固定于管道上，所述夹持机构与所述驱动装置固定连接；
    所述夹持机构包括两个夹手，所述夹手包括第一夹持件、第二夹持件以及调节螺杆；
    所述第一夹持件的上端具有向所述第二夹持件延伸的铰接部，所述铰接部与所述第二夹持件的上端铰接，所述第一夹持件和所述第二夹持件共同限定夹持空间，所述第一夹持件的上段设置有第一螺孔，所述第二夹持件的上段设置有第二螺孔，所述调节螺杆与所述第一螺孔和所述第二螺孔螺纹配合；
    两个所述第一夹持件的上端面共同固定所述驱动装置。
  15. 根据权利要求14所述的阀门机械手，其特征在于，
    所述夹手还包括第一装配杆和第二装配杆，所述第一装配杆的中心设置所述第一螺孔，所述第二装配杆的中心设置所述第二螺孔；
    所述第一装配杆穿设于所述第一夹持件的上段，所述第一夹持件的外壁开设有通孔，所述第一螺孔暴露于所述第一夹持件的通孔，所述第二装配杆穿设于所述第二夹持件的上段，所述第二夹持件的外壁开设有通孔，所述第二螺孔暴露于所述第二夹持件的通孔；
    所述调节螺杆的前段形成第一螺纹，所述调节螺杆的后段形成第二螺纹，所述第一螺纹的直径小于所述第二螺纹的直径，所述第一螺纹和所述第二螺纹为正反牙螺纹。
  16. 根据权利要求15所述的阀门机械手，其特征在于，所述夹手还包括一个铰接杆， 所述第一夹持件和所述第二夹持件通过所述铰接杆装配。
  17. 根据权利要求16所述的阀门机械手，其特征在于，所述第一夹持件的铰接部开设有通孔，且所述第二夹持件的上端开设有通孔，所述铰接杆插入于所述第一夹持件的铰接部的通孔和所述第二夹持件的上端的通孔中。
  18. 根据权利要求1-17任一项所述的阀门机械手，其特征在于，所述驱动叉的表面开设有螺孔，所述传动套筒的外周壁延伸有安装块，所述安装块开设有螺孔，所述传动套筒通过所述安装块与所述驱动叉通过螺栓固定连接。
  19. 根据权利要求1-13任一项所述的阀门机械手，其特征在于，所述阀门机械手还包括夹持机构，所述夹持机构配置成固定于管道上，所述夹持机构通过卡扣部与所述驱动装置连接；
    所述卡扣部设置有滑动件，所述卡扣部的滑动件配置成使所述夹持机构能够相对于所述驱动装置滑动。
  20. 根据权利要求19所述的阀门机械手，其特征在于，所述夹持机构包括两个夹手，两个所述夹手对应设置有两个所述卡扣部，两个所述夹手均能够通过所述卡扣部的所述滑动件相对于所述驱动装置滑动，配置成使两个所述夹手之间相向或相反方向移动。
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