CN114197410A - Hydropower station door machine capable of being accurately positioned - Google Patents
Hydropower station door machine capable of being accurately positioned Download PDFInfo
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- CN114197410A CN114197410A CN202111310467.2A CN202111310467A CN114197410A CN 114197410 A CN114197410 A CN 114197410A CN 202111310467 A CN202111310467 A CN 202111310467A CN 114197410 A CN114197410 A CN 114197410A
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- gate
- grabbing
- lifting
- cart
- fine adjustment
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B9/00—Water-power plants; Layout, construction or equipment, methods of, or apparatus for, making same
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
- E02B7/20—Movable barrages; Lock or dry-dock gates
- E02B7/26—Vertical-lift gates
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B7/00—Barrages or weirs; Layout, construction, methods of, or devices for, making same
- E02B7/20—Movable barrages; Lock or dry-dock gates
- E02B7/26—Vertical-lift gates
- E02B7/36—Elevating mechanisms for vertical-lift gates
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B9/00—Water-power plants; Layout, construction or equipment, methods of, or apparatus for, making same
- E02B9/02—Water-ways
- E02B9/06—Pressure galleries or pressure conduits; Galleries specially adapted to house pressure conduits; Means specially adapted for use therewith, e.g. housings, valves, gates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/20—Hydro energy
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Structural Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The invention relates to a hydropower station door machine capable of accurately positioning, wherein a row of gate slots vertical to the water flow direction are arranged at the upper part in a hydropower station, a plurality of gate storehouses for storing gate plates are arranged on a platform at the top of the gate slots, and lifting lugs are arranged at the upper ends of the gate plates, and the hydropower station door machine is characterized by comprising: the cart is arranged on the platform at the top of the gate slot and can move between the gate slot and the gate storeroom by matching the cart travelling mechanism with the cart moving track; the trolley frame can move along the direction vertical to the cart moving track by matching with the cart moving track on the cart through a trolley travelling mechanism; the fine adjustment platform can move along the direction vertical to the trolley moving track by matching a fine adjustment moving track on the trolley frame through a fine adjustment travelling mechanism; the lifting winding drum is arranged on the fine adjustment platform; and the beam grabbing mechanism is connected with the steel wire rope on the lifting drum and is used for realizing connection of the beam grabbing mechanism and the door plate through matching of a beam grabbing hydraulic cylinder on the beam grabbing mechanism and a lifting hole of a lifting lug on the door plate.
Description
Technical Field
The invention relates to a hydropower station door machine capable of being accurately positioned. Is suitable for the field of hydraulic and hydroelectric engineering equipment.
Background
The hoist has the characteristics of large hoisting load, small span, low running speed, large hoisting range and the like. Compared with a general gantry crane, the gantry crane at the top of the dam of the hydropower station has larger hoisting capacity and self weight, so that inertia and heavy load bring larger influence on the positioning precision of the gantry crane.
At present, the operation mode of the hydropower station door machine is that the operator of the door machine judges the walking position of the door machine by matching with a ground commander, and the deceleration braking is finished according to the command signal of the ground commander. Because the door machine operating personnel and ground personnel exchange the difficulty, the positioning accuracy and the positioning efficiency of the door machine depend on the proficiency of the door machine operating personnel to a great extent, so that the positioning accuracy of the door machine cannot be effectively guaranteed, and the door machine positioning accuracy has great uncertainty. Moreover, the traditional positioning mode increases the working strength and the working risk of operators and also increases the production cost of the hydropower station.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: to the problem that above-mentioned exists, provide a power station door machine that can accurate location.
The technical scheme adopted by the invention is as follows: the utility model provides a can accurate power station door machine of location, the gate groove of the one row of perpendicular rivers direction in the upper reaches in the power station is equipped with a plurality of gate door storehouses that are used for depositing the gate door plant on the platform of gate groove top, and the lug is equipped with to the door plant upper end, and a serial communication port includes:
the cart is arranged on the platform at the top of the gate slot and can move between the gate slot and the gate storeroom by matching the cart travelling mechanism with the cart moving track;
the trolley frame can move along the direction vertical to the cart moving track by matching with the cart moving track on the cart through a trolley travelling mechanism;
the fine adjustment platform can move along the direction vertical to the trolley moving track by matching a fine adjustment moving track on the trolley frame through a fine adjustment travelling mechanism;
the lifting winding drum is arranged on the fine adjustment platform;
and the beam grabbing mechanism is connected with the steel wire rope on the lifting drum and is used for realizing connection of the beam grabbing mechanism and the door plate through matching of a beam grabbing hydraulic cylinder on the beam grabbing mechanism and a lifting hole of a lifting lug on the door plate.
The grabbing beam mechanism is provided with a guide block I which can be matched with a guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the width direction of the gate slot, and a guide block II which can be matched with the guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the length direction of the gate slot.
The utility model provides a can accurate power station door machine of location, the gate groove of the one row of perpendicular rivers direction in the upper reaches in the power station is equipped with a plurality of gate door storehouses that are used for depositing the gate door plant on the platform of gate groove top, and the lug is equipped with to the door plant upper end, and a serial communication port includes:
the cart is arranged on the platform at the top of the gate slot and can move between the gate slot and the gate storeroom by matching the cart travelling mechanism with the cart moving track;
the trolley frame can move along the direction vertical to the cart moving track by matching with the cart moving track on the cart through a trolley travelling mechanism;
the fine adjustment platform can move along the direction vertical to the trolley moving track by matching a fine adjustment moving track on the trolley frame through a fine adjustment travelling mechanism;
the lifting winding drum is arranged on the fine adjustment platform;
the grabbing beam mechanism is connected with the steel wire rope on the lifting drum and is used for realizing the connection of the grabbing beam mechanism and the door plate through the matching of a grabbing beam hydraulic cylinder on the grabbing beam mechanism and a lifting hole of a lifting lug on the door plate;
a plurality of positioning monitoring points are arranged and correspond to the gate slots one by one;
automatic control device, having a control unit, a water level detector, a distance detector and a load cell, wherein:
the water level detector is arranged at the downstream of the hydropower station and used for acquiring the downstream water level of the hydropower station;
the distance detector is installed and fixed on the fine adjustment platform and used for obtaining the distance between the fine adjustment platform and the positioning monitoring point;
the force sensor is used for acquiring the acting force of the beam grabbing mechanism on the lifting drum;
and the control unit is connected with the water level detector, the distance detector, the force measuring sensor, the cart travelling mechanism, the trolley travelling mechanism, the fine adjustment travelling mechanism and the lifting reel, and an electric control end circuit of the beam grabbing hydraulic cylinder, and is used for controlling the cart travelling mechanism to act according to a signal fed back by the water level detector, controlling the trolley travelling mechanism, the fine adjustment travelling mechanism and the lifting reel to act according to a signal fed back by the distance detector, and controlling the beam grabbing hydraulic cylinder to act according to a signal fed back by the force measuring sensor.
The grabbing beam mechanism is provided with a guide block I which can be matched with a guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the width direction of the gate slot, and a guide block II which can be matched with the guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the length direction of the gate slot.
The control unit judges whether the gate plate needs to be grabbed from the gate slot or put into the gate slot according to the water level detection result of the water level detector;
when a gate plate needs to be grabbed from the gate slot, the control unit controls the gantry crane to longitudinally move from an initial position to a parking area corresponding to the corresponding gate slot through the cart travelling mechanism, detects a distance error of the gantry crane from a positioning monitoring point through the distance detector, and transmits a distance error value to the fine-tuning travelling mechanism which longitudinally moves to perform error compensation;
driving a trolley frame and a fine adjustment platform to transversely move to a gate slot point through a trolley travelling mechanism, lowering a grabbing beam mechanism by a lifting reel until an acting force collected by a force sensor disappears, controlling a grabbing beam hydraulic cylinder to be inserted into a lifting hole of a lifting lug at the upper end of a door plate to realize the connection of the grabbing beam mechanism and the door plate, and lifting the grabbing beam mechanism and the door plate to a certain height by the lifting reel;
the gantry crane drives the door plate to move to a corresponding gate garage together, the beam grabbing mechanism and the door plate below the lifting drum are lifted until the acting force collected by the force sensor disappears, the beam grabbing hydraulic cylinder is controlled to be separated from a lifting lug at the upper end of the door plate, and the lifting beam grabbing mechanism is lifted to a certain height;
the gantry crane resets to the initial position to complete the grabbing and releasing of the gate slot.
The invention has the beneficial effects that: because the big vehicle has heavy self weight and large inertia and is not easy to control accurately, the invention adds a fine adjustment platform with certain moving capability in the moving direction of the big vehicle to the small vehicle, transfers the accurate control part to the small vehicle, and compensates the error of the big vehicle by the small vehicle with small self weight and small inertia, thereby realizing accurate positioning.
Drawings
Fig. 1 is a schematic structural diagram of the embodiment.
Fig. 2 is a schematic structural view of the cart in the embodiment.
Fig. 3 is a schematic structural diagram of the trolley (including the trolley frame and the fine adjustment platform) in the embodiment.
Fig. 4 is a schematic perspective view of the grasping beam mechanism in the embodiment.
1. A cart; 2. a trolley; 3. a beam grabbing mechanism; 4. a cart traveling mechanism; 5. a gantry; 6. a trolley moving track; 7. a gate slot; 8. a cart moving track; 9. positioning a monitoring point; 10. a trolley machine room; 11. lifting the winding drum; 12. fine tuning the platform; 13. finely adjusting the traveling mechanism; 14. finely adjusting the moving track; 15. a trolley frame; 16. a wire rope; 17. a trolley travelling mechanism; 18. a guide block I; 19. a guide block II; 20. lifting the movable pulley; 21. grabbing a beam body; 22. a grabbing hydraulic cylinder; 23. a door panel.
Detailed Description
The embodiment is a hydropower station door machine capable of being accurately positioned, a row of gate slots perpendicular to the water flow direction are arranged at the upper part in a hydropower station, a plurality of gate door storehouses used for storing gate door sheets are arranged on platforms at the tops of the gate slots, lifting lugs are arranged at the upper ends of the gate plates, the embodiment comprises a cart, a trolley, a lifting reel and a beam grabbing mechanism, the trolley comprises a trolley frame and a fine adjustment platform arranged on the trolley frame, and the fine adjustment platform is provided with a machine room.
In the embodiment, two cart moving tracks arranged along the arrangement direction of the gate slots on the dam crest are arranged on the platform at the top of the gate slots, and a cart travelling mechanism is arranged at the lower end of the cart and can move back and forth along the cart moving tracks through the cart travelling mechanism.
In the embodiment, a plurality of positioning monitoring points which correspond to the gate slots one by one are arranged on the dam crest of the hydropower station in the direction parallel to the cart moving track.
In the embodiment, two trolley moving tracks which are perpendicular to the trolley moving tracks are arranged at the top of the portal frame of the cart, and the trolley travelling mechanism is arranged at the lower end of the trolley frame and can move back and forth along the trolley moving tracks through the trolley travelling mechanism and is arranged on the trolley moving tracks.
In this embodiment, two fine adjustment moving rails arranged perpendicular to the cart moving rail (i.e., parallel to the cart moving rail) are disposed on the top of the cart frame, and the fine adjustment traveling mechanism is mounted at the lower end of the fine adjustment platform and can move back and forth along the fine adjustment moving rails through the fine adjustment traveling mechanism.
In the embodiment, a lifting reel is arranged on the fine adjustment platform, and a steel wire rope on the lifting reel downwards passes through a beam grabbing mechanism below the fine adjustment platform and the connection of the trolley frame.
Grab beam mechanism and have and grab the roof beam body and install in grabbing roof beam body upper end in this embodiment, be used for with play to rise the reel on wire rope complex play to rise the movable pulley, grab the roof beam body be equipped with be used for with the lifting eye cooperation on the door plant realize the locking connection grab the pneumatic cylinder, and guide block I and guide block II, wherein guide block I can realize grabbing the width direction of beam mechanism at the gate slot with the gate inslot guiding mechanism cooperation and aim at the location, guide block II can realize grabbing the length direction of beam mechanism at the gate slot with the gate inslot guiding mechanism cooperation and aim at the location.
The working principle of the embodiment is as follows:
the cart running gear of power station door machine during operation starts, drives the cart and removes on the cart removes the track, opens and stops through the fixed point of location monitoring point control cart, because the heavier inertia of whole door machine dead weight is great, can not carry out the accurate position and park.
When the error occurs when the cart stops, the error is completed through the trolley.
When the cart stops at the designated positioning monitoring point, the trolley is started, the trolley travelling mechanism drives the trolley to move on the trolley moving track, and the trolley stops when reaching the position right above the gate slot. In the embodiment, the position information can be detected through the sensor, for example, the RFID technology is used as a position detection mode of an automatic positioning system of the gantry crane, and the RFID module generates a signal when the gantry crane reaches a corresponding position.
The fine setting running gear starts to drive the fine setting platform and finely adjusts the position on the fine setting moving track and moves this moment, ensures to grab the roof beam mechanism and just to the gate slot, guarantees that the door plant can accurately snatch and install.
After the position of the beam grabbing mechanism is aligned with the gate slot, the lifting winding drum is started to drive the steel wire rope to realize the lifting and descending of the beam grabbing mechanism. The grabbing beam mechanism utilizes the guide block I and the guide block II which are arranged on the grabbing beam mechanism to realize that the grabbing beam mechanism always aims at the lifting lugs on the door plate in the gate slot to move, and when the grabbing beam mechanism is aimed at the lifting holes, the lifting winding drum is stopped. The grabbing hydraulic cylinder is started, and the hydraulic rod is pushed out to penetrate through the lifting hole to achieve grabbing work of the door panel. The lifting reel is started to drive the grabbing beam mechanism to take out and stack the door plate at the storage station. After the operation is finished, the trolley returns to the standard position and enters the next gate slot to operate.
Example 2: the embodiment is a hydropower station door machine capable of being accurately positioned, a row of gate slots perpendicular to the water flow direction are arranged at the upper part in a hydropower station, a plurality of gate door storehouses used for storing gate door sheets are arranged on platforms at the tops of the gate slots, lifting lugs are arranged at the upper ends of the gate plates, the embodiment comprises a cart, a trolley, a lifting reel, a beam grabbing mechanism and the like, wherein the trolley comprises a trolley frame and a fine adjustment platform arranged on the trolley frame, and the fine adjustment platform is provided with a machine room.
In the embodiment, the cart is arranged on a platform at the top of the gate slot and can move between the gate slot and the gate storeroom by matching the cart travelling mechanism with the cart moving track. The trolley frame can move along the direction vertical to the cart moving track by matching with the cart moving track on the cart through the trolley travelling mechanism; the fine adjustment platform can be matched with a fine adjustment moving track on the trolley frame through a fine adjustment travelling mechanism to move along the direction vertical to the trolley moving track; the lifting winding drum is arranged on the fine adjustment platform; and the beam grabbing mechanism is connected with the steel wire rope on the lifting drum and is used for realizing connection of the beam grabbing mechanism and the door plate through matching of a beam grabbing hydraulic cylinder on the beam grabbing mechanism and a lifting hole of a lifting lug on the door plate.
In this embodiment, positioning monitoring points corresponding to the gate slots one to one are arranged on the platform at the top of the gate slot, and are used for providing position reference when the gantry crane moves.
Different from the situation that the gantry crane moves in the embodiment 1 and is manually operated after a worker observes a determined position, the embodiment realizes full-automatic control of the gantry crane through an automatic control device.
The automatic control device in this embodiment has a control unit, a water level detector, a distance detector, a load cell, and the like.
The water level detector is arranged at the downstream of the hydropower station and is used for acquiring the water level at the downstream of the hydropower station; the distance detector is installed and fixed on the fine adjustment platform and used for obtaining the distance between the fine adjustment platform and the positioning monitoring point; the force sensor is arranged between the beam grabbing mechanism and a steel wire rope of the lifting winding drum and used for acquiring acting force of the beam grabbing mechanism on the lifting winding drum.
In the embodiment, the control unit is connected with the electric control end circuit of the water level detector, the distance detector, the force measuring sensor, the cart travelling mechanism, the trolley travelling mechanism, the fine-tuning travelling mechanism, the lifting drum and the beam grabbing hydraulic cylinder.
In the embodiment, the grabbing beam mechanism is provided with a guide block I which can be matched with a guide mechanism in the gate slot to realize the transverse alignment and positioning of the grabbing beam mechanism on the gate, and a guide block II which can be matched with the guide mechanism in the gate slot to realize the longitudinal alignment and positioning of the grabbing beam mechanism in the gate slot.
When the acting force of the grabbing beam mechanism collected by the force measuring sensor on the lifting drum is 0, the grabbing beam mechanism is supported on the door plate below, vertical relative position positioning of the grabbing beam mechanism and the door plate is achieved, three-dimensional positioning is achieved by matching the guide blocks I and II, and therefore the grabbing beam hydraulic cylinder on the grabbing beam mechanism corresponds to the lifting hole position of the lifting lug on the door plate.
The working principle of the embodiment is as follows: the control unit judges whether the gate plate needs to be grabbed from the gate slot or put into the gate slot according to the water level detection result of the water level detector;
when a gate plate needs to be grabbed from the gate slot, the control unit controls the gantry crane to longitudinally move from an initial position to a parking area corresponding to the corresponding gate slot through the cart travelling mechanism, detects a distance error of the gantry crane from a positioning monitoring point through the distance detector, and transmits a distance error value to the fine-tuning travelling mechanism which longitudinally moves to perform error compensation;
driving a trolley frame and a fine adjustment platform to transversely move to a gate slot point through a trolley travelling mechanism, lowering a grabbing beam mechanism by a lifting reel until an acting force collected by a force sensor disappears, controlling a grabbing beam hydraulic cylinder to be inserted into a lifting hole of a lifting lug at the upper end of a door plate to realize the connection of the grabbing beam mechanism and the door plate, and lifting the grabbing beam mechanism and the door plate to a certain height by the lifting reel;
the gantry crane drives the door plate to move to a corresponding gate garage together, the beam grabbing mechanism and the door plate below the lifting drum are lifted until the acting force collected by the force sensor disappears, the beam grabbing hydraulic cylinder is controlled to be separated from a lifting lug at the upper end of the door plate, and the lifting beam grabbing mechanism is lifted to a certain height;
the gantry crane resets to the initial position to complete the grabbing and releasing of the gate slot;
the gantry crane runs to a parking area corresponding to the other gantry crane slot, and the steps are repeated;
and analogizing in sequence until all the gates are finished, and returning the gantry crane.
In the embodiment, the condition that the grabbing beam hydraulic cylinder is inserted into the lifting eye of the lifting eye at the upper end of the door plate is obtained through the inductive sensor, and when a piston rod (iron core) of the grabbing beam hydraulic cylinder enters or exits, the inductive resistance of the sensor changes, so that the current changes, and the plugging condition of the grabbing beam hydraulic cylinder and the lifting eye is accurately judged through the inductive sensor.
Claims (5)
1. The utility model provides a can accurate power station door machine of location, the gate groove of the one row of perpendicular rivers direction in the upper reaches in the power station is equipped with a plurality of gate door storehouses that are used for depositing the gate door plant on the platform of gate groove top, and the lug is equipped with to the door plant upper end, and a serial communication port includes:
the cart is arranged on the platform at the top of the gate slot and can move between the gate slot and the gate storeroom by matching the cart travelling mechanism with the cart moving track;
the trolley frame can move along the direction vertical to the cart moving track by matching with the cart moving track on the cart through a trolley travelling mechanism;
the fine adjustment platform can move along the direction vertical to the trolley moving track by matching a fine adjustment moving track on the trolley frame through a fine adjustment travelling mechanism;
the lifting winding drum is arranged on the fine adjustment platform;
and the beam grabbing mechanism is connected with the steel wire rope on the lifting drum and is used for realizing connection of the beam grabbing mechanism and the door plate through matching of a beam grabbing hydraulic cylinder on the beam grabbing mechanism and a lifting hole of a lifting lug on the door plate.
2. The hydropower station gate machine capable of being accurately positioned according to claim 1, characterized in that: the grabbing beam mechanism is provided with a guide block I which can be matched with a guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the width direction of the gate slot, and a guide block II which can be matched with the guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the length direction of the gate slot.
3. The utility model provides a can accurate power station door machine of location, the gate groove of the one row of perpendicular rivers direction in the upper reaches in the power station is equipped with a plurality of gate door storehouses that are used for depositing the gate door plant on the platform of gate groove top, and the lug is equipped with to the door plant upper end, and a serial communication port includes:
the cart is arranged on the platform at the top of the gate slot and can move between the gate slot and the gate storeroom by matching the cart travelling mechanism with the cart moving track;
the trolley frame can move along the direction vertical to the cart moving track by matching with the cart moving track on the cart through a trolley travelling mechanism;
the fine adjustment platform can move along the direction vertical to the trolley moving track by matching a fine adjustment moving track on the trolley frame through a fine adjustment travelling mechanism;
the lifting winding drum is arranged on the fine adjustment platform;
the grabbing beam mechanism is connected with the steel wire rope on the lifting drum and is used for realizing the connection of the grabbing beam mechanism and the door plate through the matching of a grabbing beam hydraulic cylinder on the grabbing beam mechanism and a lifting hole of a lifting lug on the door plate;
a plurality of positioning monitoring points are arranged and correspond to the gate slots one by one;
automatic control device, having a control unit, a water level detector, a distance detector and a load cell, wherein:
the water level detector is arranged at the downstream of the hydropower station and used for acquiring the downstream water level of the hydropower station;
the distance detector is installed and fixed on the fine adjustment platform and used for obtaining the distance between the fine adjustment platform and the positioning monitoring point;
the force sensor is used for acquiring the acting force of the beam grabbing mechanism on the lifting drum;
and the control unit is connected with the water level detector, the distance detector, the force measuring sensor, the cart travelling mechanism, the trolley travelling mechanism, the fine adjustment travelling mechanism and the lifting reel, and an electric control end circuit of the beam grabbing hydraulic cylinder, and is used for controlling the cart travelling mechanism to act according to a signal fed back by the water level detector, controlling the trolley travelling mechanism, the fine adjustment travelling mechanism and the lifting reel to act according to a signal fed back by the distance detector, and controlling the beam grabbing hydraulic cylinder to act according to a signal fed back by the force measuring sensor.
4. The hydropower station door machine capable of being accurately positioned according to claim 3, characterized in that: the grabbing beam mechanism is provided with a guide block I which can be matched with a guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the width direction of the gate slot, and a guide block II which can be matched with the guide mechanism in the gate slot to realize that the grabbing beam mechanism aligns and positions in the length direction of the gate slot.
5. The hydropower station door machine capable of being accurately positioned according to claim 3 or 4, characterized in that:
the control unit judges whether the gate plate needs to be grabbed from the gate slot or put into the gate slot according to the water level detection result of the water level detector;
when a gate plate needs to be grabbed from the gate slot, the control unit controls the gantry crane to longitudinally move from an initial position to a parking area corresponding to the corresponding gate slot through the cart travelling mechanism, detects a distance error of the gantry crane from a positioning monitoring point through the distance detector, and transmits a distance error value to the fine-tuning travelling mechanism which longitudinally moves to perform error compensation;
driving a trolley frame and a fine adjustment platform to transversely move to a gate slot point through a trolley travelling mechanism, lowering a grabbing beam mechanism by a lifting reel until an acting force collected by a force sensor disappears, controlling a grabbing beam hydraulic cylinder to be inserted into a lifting hole of a lifting lug at the upper end of a door plate to realize the connection of the grabbing beam mechanism and the door plate, and lifting the grabbing beam mechanism and the door plate to a certain height by the lifting reel;
the gantry crane drives the door plate to move to a corresponding gate garage together, the beam grabbing mechanism and the door plate below the lifting drum are lifted until the acting force collected by the force sensor disappears, the beam grabbing hydraulic cylinder is controlled to be separated from a lifting lug at the upper end of the door plate, and the lifting beam grabbing mechanism is lifted to a certain height;
the gantry crane resets to the initial position to complete the grabbing and releasing of the gate slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111310467.2A CN114197410A (en) | 2021-11-05 | 2021-11-05 | Hydropower station door machine capable of being accurately positioned |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111310467.2A CN114197410A (en) | 2021-11-05 | 2021-11-05 | Hydropower station door machine capable of being accurately positioned |
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| CN114197410A true CN114197410A (en) | 2022-03-18 |
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| CN202111310467.2A Pending CN114197410A (en) | 2021-11-05 | 2021-11-05 | Hydropower station door machine capable of being accurately positioned |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115404828A (en) * | 2022-08-15 | 2022-11-29 | 中国长江电力股份有限公司 | Method for lifting and falling of laminated beam door for layered water taking ecological scheduling of hydropower station |
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