A manned device and method for on-site maintenance of the metal structure on the backwater side of an arc-shaped gate in a hydropower station.

Abstract

A manned device and method for on-site maintenance of the metal structure of the backwater surface of an arc-shaped gate in a hydropower station, belonging to the field of high-altitude work equipment technology. The manned device includes a mobile walking device, a main rotating base, a secondary rotating base, a main arm, a telescopic arm, a manned frame, a platform leveling mechanism, a counterweight system, and a fall protection system. The mobile walking device travels along a support track fixed to the arc-shaped gate arm in the spillway channel; the main and secondary rotating bases achieve angle adjustment in the forward / backward, horizontal, and vertical directions; the telescopic arm works in conjunction with the main arm to achieve height and distance positioning; the platform leveling mechanism keeps the manned frame horizontal; the dynamic balance counterweight and detachable counterweight blocks work together to ensure the stability of the entire machine; and the fall protection system provides dual personal protection. This invention eliminates the need for scaffolding, allows for rapid deployment, precise positioning, and is safe and efficient. It is suitable for maintenance operations such as bolt tightening, non-destructive testing, and corrosion prevention on the complex curved surface of the backwater surface of arc-shaped gates, significantly improving operational safety and efficiency.

Description

Technical Field

[0001] This invention belongs to the field of high-altitude operation rapid loading personnel device, and specifically relates to a personnel loading device and method for on-site maintenance of the metal structure of the backwater surface of the arc gate of a hydropower station. Background Technology

[0002] In water conservancy projects, especially hydropower stations, to ensure the safe operation of water-retaining structures and prevent dam overload events, overflow and spillway gates are installed on the dam body. These gates, operating in an arc-shaped manner, discharge and block river water in the reservoir area, thereby controlling the upstream water level at a reasonable and safe height to ensure the safe operation of the water conservancy system. Therefore, the safe operation of the arc-shaped gates on the dam body is directly related to the safe operation of the hydropower station. Thus, operation and maintenance units generally conduct regular overall maintenance on the metal structure of the arc-shaped gates according to relevant operating specifications (such as bolt tightening, non-destructive testing, and corrosion protection) to ensure the structural safety and stable operation of the arc-shaped gates. Therefore, the maintenance work on the metal structure of the arc-shaped gates is particularly important.

[0003] However, since the arc-shaped gates are fixedly installed on the inclined surface of the spillway channel of the dam body, the backwater surface of some arc-shaped gates is in a suspended position, making it impossible to erect conventional scaffolding for maintenance work. In addition, the arc gates themselves are quite large in size, making it impossible to dismantle and transport them to the maintenance center for maintenance. Maintenance work can only be carried out on-site. How to carry out on-site maintenance of the metal structure of the backwater surface of the arc-shaped gates efficiently, conveniently and safely is an urgent problem for our operation and maintenance management personnel to solve.

[0004] Based on the actual site conditions, the metal structure of the backwater side of an arc-shaped gate generally includes an arc-shaped gate panel and structural beam grid, arc-shaped gate support arms, and arc-shaped gate hinges. For the maintenance of this type of equipment, the existing practice is for maintenance personnel to stand inside the beam grid to remove rust and perform maintenance on the metal structure inside and outside the beam grid, and to use a suspended platform to perform maintenance on the support arms and hinges. However, this method has the following drawbacks: 1. Inconvenient to operate: Due to the narrow size of the arc-shaped gate beam structure, operators cannot work in a comfortable posture, their movement is restricted, and the operation is extremely inconvenient. 2. Low work efficiency: Workers need to move or climb inside and outside the beam grid, which takes up a lot of working time and results in low work efficiency. 3. The risks are relatively high, as the work area involves climbing near edges and in the air, making the operation quite risky; 4. Conventional suspended platforms cannot reach the bottom of the equipment or the parts embedded in the dam body for equipment maintenance. Therefore, based on the on-site working conditions, we invented a manned device and method for on-site maintenance of the metal structure of the backwater surface of the arc gate in hydropower stations. This device provides a safe and reliable high-altitude maintenance platform for on-site maintenance of the metal structure of the backwater surface of the arc gate, improving work efficiency, reducing the labor intensity of workers, and ensuring the safety of construction operations at the flow surface of the flood discharge channel. Summary of the Invention

[0005] The technical problem to be solved by this invention is to provide a manned device and method for on-site maintenance of the metal structure of the backwater surface of an arc-shaped gate in a hydropower station. It is mainly used to provide a safe and reliable working platform for workers when on-site maintenance is required on the metal structure of the backwater surface of the arc-shaped gate in a hydropower station, ensuring the smooth completion of maintenance tasks. To facilitate safe erection by workers, the platform is designed as a modular structure, eliminating the need for on-site processing and cutting. Each component is assembled using a universal quick-assembly method. Furthermore, the manned device has a simple structure, a high degree of integration, rapid assembly and disassembly, and convenient transportation. It can be erected according to the actual site conditions and can adapt to the needs of working on the suspended surface of arc-shaped equipment at different inclination angles, heights, and locations.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station, comprising: Mobile walking device: used for moving along the support track; Main rotating base: mounted on the mobile walking device; Secondary rotating base: mounted on the main rotating base; Main boom base: mounted on the auxiliary rotary base; Main boom: Used to connect with the auxiliary boom via a connecting plate to form the main boom, and is hinged as a whole to the main boom base; Telescopic boom: Slidably installed inside the main boom and driven to extend and retract by the telescopic boom drive device; Personnel frame: Connected to the end of the telescopic boom via a platform rotation mechanism and a platform leveling mechanism; Counterweight system: including the counterweight bracket of the mobile walking device installed on the mobile walking device, and the dynamic balance counterweight installed on the main rotating base counterweight box and the auxiliary rotating base; Fall protection system: including fall protection brackets and fall brakes, with the fall protection brackets fixed to the independent support surface of the dam above the work area.

[0007] As a preferred embodiment, the mobile walking device includes a support frame, supporting walking wheels, and a walking drive device; the support frame is used to mount the supporting walking wheels and the walking drive device. The supporting traveling wheel includes a supporting wheel and a traveling gear. The supporting wheel rolls and supports the top surface of the supporting track, and the traveling gear meshes with a rack located on the side of the supporting track. The output end of the walking drive device is connected to the walking gear, which is used to drive the mobile walking device to walk along the support track; The support frame is equipped with a thrust bearing mounting groove, a main rotating base mounting shaft, a drive bearing mounting hole, a drive device mounting plate, an anti-derailment rail clamping device mounting bracket, an anti-derailment device drive mechanism mounting bracket, an operating rod mounting hole, a support walking wheel mounting base, and a mobile walking device counterweight bracket.

[0008] As a preferred embodiment, an anti-derailment rail clamping device is also included; the anti-derailment rail clamping device includes an anti-derailment wheel, a crank arm, a drive block, and an operating lever; The anti-detachment wheel is hinged to the anti-detachment rail clamping device mounting bracket of the support frame via a crank arm, and the anti-detachment wheel abuts against the inner flange plate of the support rail; The operating lever is threaded to the drive block, which is slidably mounted on the support frame and linked with the crank arm. It is used to control the anti-detachment wheel to press or release the support rail.

[0009] As a preferred embodiment, the main rotating base includes a main rotating base support, a main drive motor, a driving gear, and a main driven gear; The driving and driven gears are fixedly sleeved on the bottom of the main rotating base bracket and mesh with the driving gear; The drive gear is driven by the main drive motor, which in turn causes the main rotating base to rotate relative to the mobile walking device around the vertical axis.

[0010] As a preferred embodiment, the auxiliary rotary seat includes an auxiliary rotary seat bracket, a first auxiliary main drive motor, a first auxiliary driving gear, and a first auxiliary driven gear; The first driven gear is fixedly connected to the side of the auxiliary rotary seat bracket and meshes with the first driving gear; The first set of driving gears is driven by the first set of main drive motors, which in turn causes the auxiliary rotating base to rotate about the horizontal axis relative to the main rotating base.

[0011] As a preferred embodiment, a hydraulic device for the main boom is provided between the main boom and the auxiliary boom; The cylinder of the main boom hydraulic device is hinged to the main boom base, and the piston rod is hinged to the main boom rod, which is used to drive the main boom to swing in the vertical plane.

[0012] As a preferred embodiment, the telescopic boom drive device is a hydraulic cylinder, with its cylinder body fixed inside the main boom and its piston rod connected to the telescopic boom for driving the telescopic boom to extend and retract axially along the main boom.

[0013] As a preferred embodiment, the passenger-carrying frame includes a base frame, a kickboard, and a protective fence. The manned frame is connected to the platform support frame of the platform rotation mechanism via the manned frame base shaft.

[0014] As a preferred embodiment, the platform rotation mechanism includes a platform rotation main drive motor, a platform rotation drive gear, and a platform rotation driven gear; The driven gear for platform rotation is fixedly sleeved on the shaft of the manned frame base and meshes with the driving gear for platform rotation. The platform rotation drive gear is driven by the platform rotation main drive motor, which is used to drive the manned frame to rotate around its vertical central axis.

[0015] As a preferred option, a platform leveling mechanism is also included; The platform leveling mechanism includes a tripod plate, a main leveling rod, a secondary leveling rod, an active leveling hydraulic device, and a micro-leveling hydraulic device; One end of the tripod plate is hinged to the end of the telescopic boom, and the other end is hinged to the leveling main rod and the leveling auxiliary rod respectively. The other ends of the leveling main rod and the leveling auxiliary rod are hinged to the platform support frame. The active hydraulic leveling device is connected between the tripod plate and the telescopic boom, while the micro-hydraulic leveling device is connected between the main leveling rod and the tripod plate, working together to achieve automatic leveling of the passenger frame.

[0016] As a preferred embodiment, the dynamic balancing counterweight includes a dynamic balancing counterweight block and a dynamic balancing counterweight transmission gear. The left and right dynamic balance counterweight transmission gears are fixedly installed on the auxiliary rotating seat bracket mounting shaft and the second dynamic balance counterweight mounting shaft respectively via connecting keys; The dynamic balance counterweight is rotatably mounted on the first dynamic balance counterweight mounting shaft of the main rotating base via a dynamic balance counterweight mounting bearing. The end of the dynamic balance counterweight is provided with a dynamic balance counterweight gear, which can mesh with the dynamic balance counterweight transmission gears installed on both sides of the auxiliary rotating base. The dynamic balancing counterweight transmission gear is linked with the rotating components of the main rotating base or the auxiliary rotating base, causing the dynamic balancing counterweight to rotate in the opposite direction as the platform's posture changes, thus achieving dynamic center of gravity compensation.

[0017] As a preferred embodiment, the fall arrestor includes a mobile trolley, a locking device, and a boom; The mobile trolley moves independently on the track on the dam support surface and rotates to the area above the personnel carrier working area via the boom; The locking device is located on the mobile trolley and is used to lock the mobile trolley to the track or other fixed parts after the protective area has been adjusted.

[0018] As a preferred option, the upper end of the fall arrestor is installed at the end of the boom of the fall arrestor, and the lower end provides a suspension point for the safety belt worn by the worker.

[0019] As a preferred embodiment, the support rail includes a main rail and a rack fixed to its side. The support rail is fixed to the arc-shaped gate arm by prefabrication or welding.

[0020] As a preferred embodiment, a second auxiliary transmission assembly is provided between the auxiliary rotating base and the main boom base, including a second auxiliary main drive motor, a second auxiliary drive gear and a second auxiliary driven gear, for assisting in driving the main boom base to rotate around the stepped mounting shaft of the main boom base.

[0021] As a preferred embodiment, the main boom base is provided with a main boom swing clearance channel to provide space for the swing of the main boom and auxiliary boom.

[0022] As a preferred option, the leveling sub-rod is equipped with a U-shaped groove to avoid interference with the operation of the leveling micro-hydraulic device.

[0023] As a preferred embodiment, the reduced-diameter mounting section of the operating lever is rotatably mounted in the operating lever mounting hole of the support frame of the mobile walking device. The upper part is connected to the drive motor mounted on the drive mechanism mounting bracket of the detachment device via a connecting key. Under the action of the drive motor, the locking and fully opening operation of the anti-detachment rail clamping device can be realized. The lower end of the operating lever is also provided with an external hexagonal operating boss for use with tools to realize emergency manual control of the anti-detachment rail clamping device.

[0024] As a preferred embodiment, the counterweight system also includes a detachable counterweight block, which is placed or fixed inside the counterweight bracket of the mobile walking device and the counterweight box of the main rotating base.

[0025] A method for using a manned maintenance device for the metal structure on the backwater side of an arc-shaped gate in a hydropower station includes the following steps: S1: Inspection and installation of manned equipment: 1) Fix the support rails to the left and right arc gate arms of the dam's spillway arc gate by welding or prefabrication. 2) Hoist the two manned devices of the present invention onto the support rails of the left and right arc-shaped gate arms. The left actuator of the manned device installed on the left arc-shaped gate arm is responsible for the maintenance area between the left arc-shaped gate arm and the left facade of the flood discharge channel, and the right actuator is responsible for the left half maintenance area between the left and right arc-shaped gate arms. The left actuator of the manned device installed on the right arc-shaped gate arm is responsible for the right half maintenance area between the left and right arc-shaped gate arms, and the right actuator is responsible for the maintenance area between the right arc-shaped gate arm and the right facade of the flood discharge channel. 3) Place the counterweight blocks into the counterweight bracket of the mobile walking device and the counterweight box of the main rotating base according to the platform's manned requirements, and lock them to the track flange plate using the anti-derailment rail clamping device to prevent derailment; S2: Adjusting the direction of the manned maintenance device: Start the main drive motor, drive the active gear to rotate the main and driven gears, so that the main rotating base rotates around the vertical axis to the target azimuth angle, and aligns with the projection position of the front and rear inspection areas. The front and rear inspection areas mainly include the front inspection area and the rear inspection area. The front inspection area includes the beam grid and panel on the back water surface of the arc gate and the area around the front part of the arc gate support arm. The rear inspection area includes the area around the arc gate hinge and the area around the rear part of the arc gate support arm. S3: Adjusting the attitude of the manned device during maintenance: Start the first auxiliary main drive motor, drive the first auxiliary active gear to rotate the first auxiliary driven gear, so that the auxiliary rotating seat pitches around the horizontal axis to the target tilt angle, matching the local curvature of the backwater surface of the arc gate; S4: Adjustment of horizontal position of maintenance area: Start the second auxiliary main drive motor, drive the second auxiliary drive gear to rotate the second auxiliary driven gear, so that the main arm base rotates left and right around the longitudinal axis to the target position, matching the local width of the backwater surface of the arc gate; S5: Vertical position adjustment of the maintenance area: Operate the hydraulic device of the main boom to drive the main boom to swing up and down, and adjust the overall pitch angle of the main boom; at the same time, start the telescopic boom drive device to push the telescopic boom to extend along the axis of the main boom, so that the personnel frame can accurately reach the inspection area on the back water surface of the arc gate. S6: The platform leveling mechanism automatically adjusts according to the posture of the manned frame: the active leveling hydraulic device and the micro-leveling hydraulic device work together to keep the manned frame in a horizontal state through the linkage mechanism composed of the tripod plate, the main leveling rod and the auxiliary leveling rod. S7: Workers, wearing safety belts, are suspended at the lower end of the fall arrestor and carry out maintenance work such as bolt tightening, non-destructive testing, or corrosion prevention within the personnel carrier. The fall arrestor system is in standby mode throughout the process and will trigger the braking protection in the event of an abnormal fall. S8: After maintenance is completed, retract the telescopic boom, reset the main boom angle, slew the auxiliary rotating seat to the initial tilt angle, and slew the main rotating base to the initial azimuth angle to complete the platform reset; release the anti-derailment rail clamping device from its locking state, hoist the entire maintenance personnel carrier out of its installation position, and transport it to the storage warehouse.

[0026] The present invention can achieve the following beneficial effects: 1. This invention provides dual safety for workers by setting up an independent fall protection system (including fall protection brackets and fall brakes); the personnel carrying frame is equipped with protective railings and kickboards, and combined with a platform leveling mechanism to automatically maintain a horizontal state, avoiding the risk of slippage caused by platform tilting. Even in suspended, edge-prone, or steeply inclined conditions, it can ensure the safety of personnel.

[0027] 2. The platform of this invention adopts a multi-degree-of-freedom linkage structure of "main rotating base + auxiliary rotating base + main arm + telescopic arm + manned frame rotation mechanism", which can realize multi-dimensional adjustment of horizontal azimuth angle, vertical pitch angle, arm length extension and extension and manned frame rotation, accurately match the local curvature and spatial position of the backwater surface of the arc gate, and achieve full-area coverage without dead angles.

[0028] 3. The present invention is equipped with a platform leveling mechanism consisting of a tripod plate, a leveling main / secondary rod and a dual hydraulic device, which can automatically adjust the level of the personnel frame in real time according to the boom posture, ensuring that the operator is always in a stable and comfortable standing position, greatly improving the convenience of operation and work efficiency.

[0029] 4. This invention innovatively introduces a dynamic balance counterweight system, in which the counterweight blocks are linked to the main / auxiliary rotating seats through gear transmission and rotate in the opposite direction as the platform's posture changes, thereby achieving dynamic center of gravity compensation; at the same time, it is supplemented by detachable counterweight blocks, which can flexibly adjust the static counterweight according to the load, effectively preventing overturning and enhancing the overall stability of the machine.

[0030] 5. The invention adopts a modular and standardized component design, which eliminates the need for on-site welding or cutting. The components are connected by a universal quick-assembly method, making assembly and disassembly quick and convenient for transportation. It is particularly suitable for complex construction environments such as narrow, high-humidity, and high-altitude hydropower stations.

[0031] 6. The mobile walking device of the present invention runs along the support track pre-embedded in the side wall of the flood discharge channel and achieves precise climbing through gear-rack drive; the matching anti-derailment rail clamping device can manually or electrically lock the track flange plate, effectively preventing the equipment from derailing on the inclined track and ensuring walking safety. Attached Figure Description

[0032] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 A schematic diagram of the supporting track structure; Figure 2 This is a schematic diagram of the support frame structure; Figure 3 A schematic diagram of the structure supporting the walking wheels; Figure 4 A schematic diagram of the walking drive unit installation; Figure 5 This is a schematic diagram of the anti-detachment wheel structure; Figure 6This is a schematic diagram of the crank arm structure; Figure 7 This is a schematic diagram of the driver block structure; Figure 8 This is a schematic diagram of the control lever structure; Figure 9 This is a schematic diagram of the anti-derailment rail clamping device. Figure 10 Schematic diagram of the main rotating base support structure; Figure 11 Schematic diagram of the main rotating base structure; Figure 12 This is a schematic diagram of the auxiliary rotating seat support structure; Figure 13 This is a partial sectional view of the auxiliary rotary seat support structure; Figure 14 This is a schematic diagram of the secondary rotary seat structure; Figure 15 A schematic diagram of the main arm base structure; Figure 16 A schematic diagram of the main arm structure; Figure 17 This is a schematic diagram of the telescopic arm structure; Figure 18 This is a schematic diagram of the platform leveling mechanism. Figure 19 This is a schematic diagram of the platform rotation mechanism. Figure 20 This is a schematic diagram of the manned frame structure; Figure 21 This is a schematic diagram of the counterweight structure; Figure 22 This is a schematic diagram of the dynamic balancing counterweight structure; Figure 23 This is a schematic diagram of a dynamic balancing counterweight structure; Figure 24 A schematic diagram of a fall protection system; Figure 25 A schematic diagram of the manned maintenance device for the metal structure on the backwater side of the arc gate of a hydropower station. Figure 26 This is a structural diagram showing the connection between the platform leveling mechanism and the platform rotation mechanism. Figure 27 This is a rendering of the installation effect of the manned maintenance device for the backwater surface metal structure of the arc gate of a hydroelectric power station.

[0033] In the diagram: Dam 0, Flood discharge channel 01, Arc gate 02, Arc gate backwater surface 02-1, Arc gate support arm 02-2, Arc gate hinge 02-3, Support rail 1, Main rail 1-1, Rack 1-2; 2. Mobile walking device, 20. Support frame, 20-1. Thrust bearing mounting groove, 20-2. Main rotating base mounting shaft, 20-3. Drive bearing mounting hole, 20-4. Drive device mounting plate, 20-5. Anti-derailment rail clamping device mounting bracket, 20-5. Crank arm mounting hole, 20-5-1. Anti-derailment device drive mechanism mounting bracket, 20-6. Drive motor mounting hole, 20-6-1. Drive motor shaft clearance hole, 20-6-2. Operating lever mounting hole, 20-7. Support walking wheel mounting seat, 20-8. Mobile walking device counterweight bracket, 20-9. Load-bearing thrust bearing, 21. Support walking wheel, 22. Support wheel, 22-1. Walking gear, 22-2. Support shaft, 22-3. Walking drive device, 23. Motor, 23-1. Directional reduction mechanism, 23-2. Control cabinet, 23-3. Power supply device, 23-4. Operating handle, 23-5. Anti-derailment clamping device 3, anti-derailment wheel 30, anti-derailment wheel mounting hole 30-1, chamfer 30-2, crank arm 31, anti-derailment wheel mounting shaft 31-1, first mounting hole 31-2, second mounting hole 31-3, drive block 32, crank arm clearance groove 32-1, slotted hole 32-2, operating rod threaded hole 32-3, operating rod 33, connecting keyway 33-1, drive thread 33-2, reduced diameter mounting section 33-3, drive motor 34, crank arm mounting shaft 35, crank arm sliding shaft 36; Main rotating base 4, main rotating base bracket 40, main rotating base functional box 40-1, main rotating base mounting shaft mounting through hole 40-1-1, main rotating base thrust bearing mounting groove 40-1-2, drive gear shaft mounting blind hole 40-1-3, main drive motor mounting plate 40-1-4, first auxiliary main drive motor mounting plate 40-1-5, main rotating base counterweight box 40-2, auxiliary rotating base mounting functional box 40-3, auxiliary rotating base mounting shaft mounting through hole 40-3-1, first auxiliary drive gear shaft mounting hole 40-3-2, first dynamic balance counterweight mounting shaft 40-4, mounting boss 40-4-1, main rotating base thrust bearing 41, main drive motor 42, drive gear 43, main driven gear 44; Auxiliary rotary seat 5, auxiliary rotary seat bracket 50, auxiliary rotary seat bracket mounting shaft 50-1, first auxiliary driven gear connecting keyway 50-1-1, auxiliary rotary seat function box 50-2, main boom base mounting clearance through hole 50-2-1, second thrust bearing mounting groove 50-2-2, second auxiliary drive gear shaft mounting through hole 50-2-3, second auxiliary main drive motor mounting seat 50-2-4, main boom base shaft mounting through hole 50-2-5, first thrust bearing mounting groove 50-2-6, second auxiliary drive gear shaft mounting blind hole 50-2-7, second dynamic balance counterweight mounting shaft 50-3, bearing 51, first bearing 51-1, second bearing 51-2, first auxiliary main drive motor 52, first auxiliary drive gear 53, first auxiliary driven gear 54, first thrust bearing 55, second auxiliary driven gear 56, second auxiliary drive gear 57, second auxiliary main drive motor 58, second thrust bearing 59; Main boom base 60, main boom base stepped mounting shaft 60-1, safety baffle mounting groove 60-1-1, second driven gear mounting keyway 60-1-2, main boom hydraulic mechanism mounting boss 60-2, main boom hydraulic device mounting groove 60-2-1, main boom hydraulic device connecting hole 60-2-2, main boom mounting ear plate 60-3, boom mounting hole 60-3-1, auxiliary boom mounting hole 60-3-2, main boom swing clearance passage 60-4, main boom rod 61, main boom rod mounting hole 61-1, telescopic boom rod mounting groove 61-2, connecting plate mounting shaft 61-3, main boom hydraulic... The device includes: piston rod mounting hinge 61-4, auxiliary boom rod 62, auxiliary boom rod mounting hole 62-1, main boom hydraulic device running clearance groove 62-2, connecting plate 63, main boom hydraulic device 64, cylinder mounting hole 64-1, piston rod 64-2, telescopic boom rod 65, telescopic boom body 65-1, telescopic boom rod head 65-2, leveling mechanism hydraulic device mounting hole 65-2-1, leveling mechanism hydraulic device running clearance groove 65-2-2, leveling mechanism tripod plate mounting hole 65-2-3, telescopic boom drive device 66, telescopic boom drive mounting hole 66-1, piston rod 66-2. Platform leveling mechanism 7, tripod plate 70, tripod plate mounting hole 70-1, leveling active hydraulic device piston rod mounting hole 70-2, leveling main rod first mounting hole 70-3, leveling auxiliary rod first mounting hole 70-4, leveling main rod 71, leveling main rod second mounting hole 71-1, platform support frame first mounting hole 71-2, leveling micro-motion hydraulic mounting hinge 71-3, leveling auxiliary rod 72, mounting hole 72-1, leveling micro-motion hydraulic device running avoidance U-shaped groove 72-2, leveling active hydraulic device 73, leveling active cylinder mounting hole 73-1, leveling active hydraulic piston rod 73-2, leveling micro-motion hydraulic device 74. Platform rotation mechanism 8, platform support frame 80, second mounting hole 80-1 of platform support frame, second mounting hole 80-2 of leveling auxiliary rod, platform transmission base 81, main drive motor for platform rotation 82, driving gear for platform rotation 83, driven gear for platform rotation 84, first thrust bearing for platform rotation 85, second driven gear for platform rotation 86. 9. Personnel frame, 90. Personnel frame base shaft, 90-1. Keyway for mounting the platform rotation driven gear, 90-2. Mounting overlap boss, 91. Base frame, 92. Kickboard, 93. Protective fence; Counterweight 10, Handle 10-1, Counterweight mounting hole 10-2; Dynamic balancing counterweight 11, dynamic balancing counterweight transmission gear 11-1, dynamic balancing counterweight mounting bearing 11-2, dynamic balancing counterweight block 11-3, dynamic balancing counterweight block gear 11-3-1, dynamic balancing counterweight block mounting bearing mounting through hole 11-3-2, U-shaped mounting ear plate 11-3-3, dynamic balancing counterweight body 11-3-4; Fall arrestor 12, mobile trolley 12-1, locking device 12-2, boom 12-3; Fall brake 13; Track 14. Detailed Implementation

[0034] Preferred solutions include Figure 27As shown, a manned device and method for on-site maintenance of the metal structure of the backwater surface of an arc-shaped gate in a hydropower station consists of six parts: a basic walking mechanism, an angle adjustment and rotation mechanism, a height and position adjustment mechanism, a manned platform, a counterweight system, and a fall protection system. The basic walking mechanism, the main walking support component of this invention, is installed on the arc-shaped gate arm and provides safe and reliable support for the maintenance platform. It mainly consists of a support rail, a mobile walking device, and an anti-rail-clamping device. The angle adjustment and rotation mechanism, the main spatial position adjustment component of this invention, is installed on the mobile walking device and allows for precise adjustment of the manned platform's spatial position in both planar and vertical dimensions, achieving effective coverage of the backwater surface area of ​​the arc-shaped gate and ensuring smooth maintenance work. It mainly consists of a main rotating base and a secondary rotating base. The height and position adjustment mechanism, the main height and position adjustment component of this invention, is installed on the secondary rotating base and allows for vertical adjustment of the manned platform's position at different heights, achieving full coverage of the backwater surface area of ​​the arc-shaped gate and ensuring smooth maintenance or other work. It mainly consists of a main arm base, a main arm, and a telescopic arm. The manned platform, the main manned device of this invention, mainly consists of a platform leveling mechanism, a platform rotating mechanism, and a manned frame, mounted on a telescopic arm. This ensures free adjustment of the manned device in the horizontal plane and at cantilevered locations, allowing workers to effectively access the entire area of ​​the backwater surface of the arc-shaped gate, guaranteeing efficient maintenance operations. The counterweight system, the main safety device of this invention, ensures the safety and reliability of the device itself during use, guaranteeing the safety of personnel during maintenance at the edge of the cantilevered area. It mainly consists of counterweight blocks and dynamic balancing counterweights; different counterweight blocks can be placed according to different load capacities to ensure the safe use of the device. The fall protection system, the personnel protection system of this invention, is independently installed directly above the arc-shaped gate area, providing secondary protection for workers and ensuring their safety during operation or passage. It mainly consists of fall protection brackets and fall protection brakes. Specifically, refer to Table 1; the structure and function of each component are as follows: Table 1. Technical Features and Numbering Comparison Table

[0035] 1. Supporting track, such as Figure 1As shown, it is made of high-strength alloy I-beams and is firmly fixed to the arc-shaped gate support arm by a track plate or other means. It is mainly used for the mobile walking device 2 to travel and crawl on its track, providing a stable mobile walking foundation for the manned platform 12. Its body is composed of a main rail 1-1 and a rack 1-2. The main rail 1-1 is used in conjunction with the outer circle of the two moving wheels of the mobile walking device 2 and is the main load-bearing component of this device. A rack 1-2 is machined on one side below the edge of the track and is used in conjunction with the gear on the rim of the mobile walking fixed wheel 3-1 to realize the device's free movement function in the inclined part. 2. Mobile walking device 2, such as Figure 2 As shown, the main walking and moving component of the present invention mainly consists of a support frame 20, a load-bearing thrust bearing 21, a supporting walking wheel 22, and a walking drive device 23. It provides mounting support for the passenger-carrying device and the anti-derailment rail clamping device, effectively connecting the passenger-carrying device and the anti-derailment rail clamping device into a whole, constituting the main basic framework of the device of the present invention. The main body is provided with a thrust bearing mounting groove 20-1, a main rotating base mounting shaft 20-2, a drive bearing mounting hole 20-3, a drive device mounting plate 20-4, an anti-derailment rail clamping device mounting bracket 20-5, an anti-derailment device drive mechanism mounting bracket 20-6, an operating rod mounting hole 20-7, a supporting walking wheel mounting seat 20-8, and a moving walking device counterweight bracket 20-9. The drive bearing mounting holes 20-3 are located in the front and rear directions of the support frame 20. Correspondingly located at each of these holes are drive device mounting plates 20-4, anti-derailment rail clamping device mounting brackets 20-5, anti-derailment device drive mechanism mounting brackets 20-6, and operating rod mounting holes 20-7. The anti-derailment rail clamping device mounting brackets 20-5 are symmetrically arranged on the left and right sides. The upper end has a crank arm mounting hole 20-5-1, and the upper end has an anti-derailment device drive mechanism mounting bracket 20-6. Four drive motor mounting holes 20-6-1 are located at the four corners of the top, and a drive motor shaft clearance hole 20-6-2 is located in the middle. The bottom of the support frame 20 has four sets of support wheel 22 mounting hinges 20-8. Counterweight placement brackets 20-9 are symmetrically arranged on the left and right sides. 3. Supporting the walking wheels 22, such as Figure 3 As shown, the customized product is installed on the mounting hinge 20-8 of the support frame 20 and can be used with the support rail 1. It has reliable climbing and passage under slope conditions. Its body is composed of support wheel 22-1, traveling gear 22-2 and support shaft 22-3. The support wheel 22-1 is used in conjunction with the main rail 1-1 and is the main load-bearing component of this device. The traveling gear 22-2 is used in conjunction with the rack 1-2 and is the main component of this device under slope conditions, realizing the free movement function of the device in the inclined part. 4. Walking drive device 23, such as Figure 4As shown, the main walking mechanism of the present invention includes a motor 23-1, a reversing and deceleration mechanism 23-2, a control cabinet 23-3, a power supply device 23-4, and an operating handle 23-5. Specifically, the motor 23-1, control cabinet 23-3, and power supply 23-4 are all products adapted according to the project characteristics and are installed on the corresponding parts of the support frame 20. The reversing and deceleration mechanism 23-2 can reverse the torque of the motor 23-1 and reduce its speed to transmit it to the mounting shaft of the support wheel 22 and drive the support wheel 22 to run. The power supply 23-4 of the device is powered by a battery and can enable the device to move freely on the track, ensuring that the maintenance area is effectively covered. 5. Anti-derailment rail clamping device 3, such as Figure 5 As shown, the safety protection device of the present invention consists of an anti-detachment wheel 30, a crank arm 31, a drive block 32, an operating lever 33, a drive motor 34, a crank arm mounting shaft 35, and a crank arm sliding shaft 36. Specifically, the anti-derailment wheel 30 is provided with an anti-derailment wheel mounting hole 30-1 and the end is chamfered 30-2 to adapt to the bottom of the main rail 1-1 when it is in the locked position and is installed on the anti-derailment wheel mounting shaft 31-1 at the end of the crank arm 31; Crank arm 31, such as Figure 6 As shown, this is a customized product with a plate structure. One end is provided with an anti-detachment wheel mounting shaft 31-1, the middle apex position is provided with a first mounting hole 31-2, and the other section is provided with a second mounting hole 31-3. The device crank arm 31 is mounted on the crank arm mounting hole 20-5-1 of the support frame 20 through the crank arm mounting shaft 35, so that it can rotate around the mounting shaft 35. Driver block 32, such as Figure 7 As shown, this is a customized product with a rectangular structure. A crank arm clearance groove 32-1 is provided on each of the left and right sides from top to bottom. An operating rod threaded hole 32-3 is provided in the middle. A slotted hole 32-2 is provided on each of the left and right sides from front to back. The crank arm 31 passes through the crank arm clearance groove 32-1 and is installed in the slotted hole 32-2 via a crank arm sliding shaft 36 passing through the second mounting hole 31-3 of the crank arm 31. The crank arm sliding shaft 36 can slide and reciprocate within the slotted hole 32-2. Operating lever 33, such as Figure 8 , 9As shown, this is a customized product with a columnar structure. The upper section has a connecting keyway 33-1, the middle section has a driving thread 33-2, and the lower section has a reduced-diameter mounting section 33-3. The driving thread 33-2 of the operating lever 33 is threadedly connected to the operating lever 33. The reduced-diameter mounting section 33-3 of the operating lever 33 is installed in the operating lever mounting hole 20-7 of the support frame 20 and can rotate. The upper end of the operating lever 33 is connected to the drive motor 34 through a connecting key installed in the connecting keyway 33-1, which can reliably transmit the rotational torque of the drive motor 34 to the operating lever 33. The operating lever 33 drives the drive block 32 to move up and down. The up and down movement of the drive block 32 drives the crank arm 31 to rotate around the first mounting shaft 35, realizing effective avoidance and locking of the anti-detachment wheel 30 and the bottom of the main rail 1-1.

[0036] 6. Main rotating base 4, such as Figure 10 , 11 As shown, the functional components for adjusting the planar dimension of the device of the present invention mainly consist of a main rotating base support 40, a main rotating base thrust bearing 41, a main drive motor 42, a drive gear 43, and a main driven gear 44. Specifically: The main rotating base support 40 is a custom-made product, with an overall rectangular box girder structure. The front and rear sides are equipped with main rotating base counterweights 40-2, and the middle section is the main rotating base functional box 40-1. The left and right sides of the main rotating base mounting functional box 40-3 are equipped with auxiliary rotating base mounting functional boxes 40-3. The bottom of the main rotating base functional box 40-1 has a main rotating base mounting shaft through hole 40-1-1, a main rotating base thrust bearing mounting groove 40-1-2, and a drive gear shaft mounting blind hole 40-1-3. The two sides of the auxiliary rotating base mounting functional box 40-3 are respectively equipped with auxiliary rotating base mounting shaft through holes 40-... 3-1 and the first auxiliary drive gear shaft mounting hole 40-3-2; a main drive drive motor mounting plate 40-1-4 is provided at the position corresponding to the main drive drive motor 42, and a first auxiliary main drive drive motor mounting plate 40-1-5 is provided at the position corresponding to the first auxiliary main drive drive motor 52; a first dynamic balance counterweight mounting shaft 40-4 is provided on both sides of the main rotating base bracket 40, and mounting bosses 40-4-1 are provided at both ends of the first dynamic balance counterweight mounting shaft 40-4 to facilitate the installation of the dynamic balance counterweight bearing 11-2, so that the dynamic balance counterweight can mesh and operate normally during the up and down rotation of the auxiliary rotating base 5; The bracket mounting hole 40-1-1 of the main rotating base bracket 40 passes through the main rotating base mounting shaft 20-2 of the mobile walking device 2, is placed on the load-bearing thrust bearing 21, and can rotate. The main rotating base thrust bearing 41 is installed in the main rotating base thrust bearing mounting groove 40-1-2 and passes through the main rotating base mounting shaft 20-2. The main and driven gears 44 are placed on the main rotating base thrust bearing 41 and are connected and fixed to the main rotating base mounting shaft 20-2 by a connecting key. The driving gear 43 is connected to the main and driven gears 44 by gear meshing. The driving gear 43 is connected to the main drive motor 42 through the connecting shaft installed in the blind hole 40-1-3 of the driving gear shaft. The main drive motor 42 is fixedly installed on the main drive motor mounting seat 40-1-4 of the main rotating base bracket 40. The effective cooperation of the above mechanisms realizes the effective rotation of the main rotating base 4 in the planar dimension. 7. Secondary rotary seat 5, such as Figure 12 , 13 As shown in Figure 14, the functional components for adjusting the vertical dimension of the device of the present invention mainly consist of a secondary rotating seat support 50, a bearing 51, a first secondary main drive motor 52, a first secondary driving gear 53, a first secondary driven gear 54, a first thrust bearing 55, a second secondary driven gear 56, a second secondary driving gear 57, a second secondary main drive motor 58, and a second thrust bearing 59. Specifically: The auxiliary rotary seat bracket 50 is a custom-made product with a rectangular box girder structure. One side facade 50-A has an auxiliary rotary seat bracket mounting shaft 50-1, which has a first driven gear connecting keyway 50-1-1. The other side facade 50-B has a second dynamic balance counterweight mounting shaft 50-3. The auxiliary rotary seat function box 50-2 is located between the two uprights. The auxiliary rotary seat function box 50-2 consists of upper and lower base plates, with the upper base plate... The base plate has a main boom base mounting clearance through hole 50-2-1, a second thrust bearing mounting groove 50-2-2, and a second auxiliary drive gear shaft mounting through hole 50-2-3; the lower base plate has a main boom base shaft mounting through hole 50-2-5, a first thrust bearing mounting groove 50-2-6, and a second auxiliary drive gear shaft mounting blind hole 50-2-7; the second auxiliary main drive motor 58 is mounted on the second auxiliary main drive motor mounting seat 50-2-4 inside the facade 50-B; Specific connection method: The auxiliary rotating base bracket mounting shaft 50-1 on the auxiliary rotating base bracket 50 is installed on the inner rings of the first bearing 51-1 and the second bearing 51-2 using an interference fit. The outer rings of the first bearing 51-1 and the second bearing 51-2 are installed in the auxiliary rotating base mounting shaft mounting through hole 40-3-1 provided in the auxiliary rotating base mounting functional box 40-3 of the main rotating base bracket 40 using an interference fit; thus achieving an effective and reliable connection between the auxiliary rotating base bracket 50 and the main rotating base bracket 40; the first auxiliary driven gear 54 is installed on the auxiliary rotating base bracket via a connecting key. The bracket mounting shaft 50-1, the first auxiliary drive gear 53 is mounted on the first auxiliary drive gear shaft mounting hole 40-3-2 in the auxiliary rotary seat mounting function box 40-3 via a connecting shaft, the first auxiliary drive gear 53 is connected to the first auxiliary main drive motor 42 via a coupling, the first auxiliary main drive motor 42 is mounted on the first auxiliary main drive motor mounting seat 40-1-5, the first auxiliary drive gear 53 and the first auxiliary main driven gear 54 are connected by gear meshing; the effective cooperation of the above mechanisms realizes the effective rotation of the auxiliary rotary seat 5 in the vertical plane dimension. The first thrust bearing 55 is installed in the first thrust bearing mounting groove 50-2-6, and the second thrust bearing 59 is installed in the second thrust bearing mounting groove 50-2-2. The second driven gear 56 is installed between the first thrust bearing 55 and the second thrust bearing 59 and fixed to the main arm base shaft 60-1 by a connecting key. The second driving gear 57 is installed in the second driving gear shaft mounting blind hole 50-2-7 via a connecting shaft. The second driving gear 57 is connected to the second main drive motor 58 via a connecting shaft. The second main drive motor 58 is installed on the second main drive motor mounting seat 50-2-4. The second driving gear 57 and the second main driven gear 56 are connected by gear meshing. The effective cooperation of the above mechanisms can compensate for and realize the limited angular rotation of the auxiliary rotary seat 5 in the planar dimension. 8. Main boom base 60, such as Figure 15As shown, this is a customized product with a columnar structure. The lower part features a stepped mounting shaft 60-1 for the main boom base; the middle part has a mounting boss 60-2 for the main boom hydraulic mechanism; and the upper part has symmetrically arranged main boom mounting lugs 60-3. A main boom swing clearance channel 60-4 is provided between the main boom mounting lugs 60-3. The upper section of the stepped mounting shaft 60-1 has a keyway 60-1-2 for the second driven gear, corresponding to the mounting position of the second driven gear 56. The lower section of the stepped mounting shaft 60-1 extends through the lower layer of the auxiliary rotary seat bracket 50. A safety baffle mounting groove 60-1-1 is provided after the main boom base shaft mounting through hole 50-2-5 on the plate, which can be used with the safety baffle to ensure that the main boom base 60 and the auxiliary rotating seat bracket 50 can be connected; the main boom hydraulic mechanism mounting boss 60-2 is provided with a main boom hydraulic device mounting groove 60-2-1 corresponding to the main boom swing avoidance channel 60-4, and a main boom hydraulic device connection hole 60-2-2 is provided at the corresponding position; the main boom mounting ear plate 60-3 is provided with a boom mounting hole 60-3-1 and an auxiliary boom mounting hole 60-3-2; Specifically, the upper large-diameter section of the main boom base stepped mounting shaft 60-1 is fixedly installed by passing through the second thrust bearing 59 with an interference fit, and the lower small-diameter section is fixedly installed by passing through the first thrust bearing 55 with an interference fit; the second driven gear 56 is installed below the upper large-diameter section of the main boom base stepped mounting shaft 60-1 via a connecting key and overlaps the first thrust bearing 55; the lower section of the main boom base stepped mounting shaft 60-1 passes through the main boom base shaft mounting through hole 50-2-5 opened in the lower base plate of the auxiliary rotary seat bracket 50 and is limited by a safety stop to ensure that the main boom base 60 and the auxiliary rotary seat bracket 50 can be connected; 9. Main arm, such as Figure 16 As shown, the main boom unit 64, mounted on the main boom base 60, mainly consists of a main boom rod 61, a secondary boom rod 62, a connecting plate 63, and a main boom hydraulic device 64. Specifically, the main boom rod 61 is a box girder structure with main boom rod mounting holes 61-1, telescopic boom rod mounting grooves 61-2, connecting plate mounting shafts 61-3, and main boom hydraulic device piston rod mounting hinges 61-4. The secondary boom rod 62 is a plate structure with secondary boom rod mounting holes 62-1 at both the top and bottom, and a main boom hydraulic device running clearance groove 62-2 in the middle. The connecting plate 63 is a plate structure with connecting plate mounting holes at the top and bottom. The main boom hydraulic device 64 is mounted in the main boom hydraulic device mounting groove 60-2-1 of the main boom base 60 via a pin passing through the cylinder mounting hole 64-1, and its piston rod 64-2 is connected to the main boom hydraulic device piston rod mounting hinge 61-4. 10. Telescopic boom, such as Figure 17As shown, the telescopic boom 65, mounted on the main boom 61, mainly consists of a telescopic boom 65 and a telescopic boom drive device 66. Specifically, the telescopic boom 65 consists of a telescopic boom body 65-1 and a telescopic boom head 65-2. The telescopic boom body 65-1 is a rectangular hollow structure to facilitate the installation of the telescopic boom drive device 66. The telescopic boom head 65-2 is provided with a leveling mechanism hydraulic device mounting hole 65-2-1, a leveling mechanism hydraulic device running clearance groove 65-2-2, and a leveling mechanism tripod plate mounting hole 65-2-3. The telescopic boom drive device 66 is installed inside the main boom 61 through the telescopic boom drive device mounting hole. Its piston rod 66-2 is installed in the inner cavity of the telescopic boom body 65-1. The telescopic boom drive device 66 is installed at the matching position of the telescopic boom mounting groove 61-2 through the connecting shaft passing through the telescopic boom drive mounting hole 66-1. It is driven to extend and retract by hydraulic means to realize the effective extension and retraction function of the telescopic boom. 11. Platform leveling agency 7, such as Figure 18As shown, the device installed on the telescopic boom 65 mainly consists of a tripod plate 70, a leveling main rod 71, a leveling auxiliary rod 72, a leveling active hydraulic device 73, and a leveling micro-motion hydraulic device 74. Specifically, the tripod plate 70 has a triangular plate structure, and its body is provided with a tripod plate mounting hole 70-1, a leveling active hydraulic device piston rod mounting hole 70-2, a first mounting hole 70-3 for the leveling main rod, and a first mounting hole 70-4 for the leveling auxiliary rod. The tripod plates 70 are connected in pairs and pass through the tripod plate mounting holes 70-4 via mounting shafts. 1. The telescopic boom 65 is installed on the tripod plate mounting holes 65-2-3; the leveling main rod 71 is a rectangular structure, with a second leveling main rod mounting hole 71-1 at one end and a first platform support frame mounting hole 71-2 at the other end. A leveling micro-motion hydraulic mounting hinge 71-3 is located in the lower middle part. The leveling main rod 71 is installed on the first leveling main rod mounting hole 70-3 of the tripod plate 70 via a connecting shaft passing through the second leveling main rod mounting hole 71-1. The other end passes through the first platform support frame mounting hole 71-2 via a connecting shaft. -2 is connected to the second mounting hole 80-1 of the platform support frame 80; the leveling auxiliary rod 72 has two mounting holes 72-1 at both ends, and a U-shaped groove 72-2 for the leveling micro-motion hydraulic device to avoid operation in the middle. The leveling auxiliary rod 72 is installed in the first mounting hole 70-4 of the leveling auxiliary rod of the tripod plate 70 through the mounting hole at one end of the leveling auxiliary rod 72 via a connecting shaft, and the other end is connected to the second mounting hole 80-2 of the leveling auxiliary rod of the platform support frame 80 through the other mounting hole 72-1 of the leveling auxiliary rod 72 via a connecting shaft; leveling The active hydraulic device 73 is installed in the leveling mechanism hydraulic device mounting hole 65-2-1 of the telescopic boom 65 through a pin passing through the leveling active cylinder mounting hole 73-1, and its leveling active hydraulic piston rod 73-2 is connected to the leveling active hydraulic piston rod mounting hole 70-2 of the tripod plate 70; the leveling micro-motion hydraulic device 74 is installed on the first mounting hole 70-4 of the leveling auxiliary rod through a pin passing through the leveling micro-motion cylinder mounting hole, and its leveling micro-motion hydraulic piston rod is connected to the leveling micro-motion hydraulic mounting hinge 71-3 of the leveling main rod 71; 12. Platform rotating mechanism 8, such as Figure 19As shown, the main platform rotation functional components of the device of the present invention mainly consist of a platform support frame 80, a platform transmission base 81, a platform rotation main drive motor 82, a platform rotation drive gear 83, a platform rotation driven gear 84, a platform rotation first thrust bearing 85, and a platform rotation second driven gear 86. Specifically, the platform support frame 80 is generally a triangular plate structure. Its body is provided with a platform support frame second mounting hole 80-1 and a leveling auxiliary rod second mounting hole 80-2. Its upper part is connected to the leveling main rod 71's platform support frame first mounting hole 71-2 through the platform support frame second mounting hole 80-1 via a connecting shaft, and its lower part is connected to the leveling auxiliary rod 72's mounting hole 72-1 through the leveling auxiliary rod second mounting hole 80-2 via a connecting shaft. The platform transmission base 81 is a custom-made part, and its internal components are machined according to requirements. Various functional holes are connected to the platform support frame 80 by welding. Specifically: the first thrust bearing 85 for platform rotation is installed in the mounting groove of the first thrust bearing for platform rotation, and the second thrust bearing 86 for platform rotation is installed in the mounting groove of the second thrust bearing for platform rotation. The driven gear 84 for platform rotation is installed between the first thrust bearing 85 and the second thrust bearing 86 and fixed to the base shaft 90 of the passenger frame by a connecting key. The driving gear 83 for platform rotation is installed on the driving gear shaft of the platform support frame 80 through a connecting shaft. The driving gear 83 for platform rotation is connected to the main drive motor 82 for platform rotation through a connecting shaft. The driving gear 83 for platform rotation and the driven gear 84 for platform rotation are connected by gear meshing. The effective cooperation of the above mechanisms enables reliable rotation of the passenger frame in the plane. 13. Personnel frame 9, as shown Figure 20 As shown, this is the main manned functional component of the present invention, which can provide standing and riding space for maintenance personnel. It mainly consists of a manned frame base shaft 90, a base frame 91, a kick plate 92, and a protective fence 93. Specifically, the lower section of the manned frame base shaft 90 is provided with a platform rotation driven gear mounting keyway 90-1, and the upper end is provided with a mounting overlap boss 90-2. The mounting overlap boss 90-2 of the manned frame base shaft 90 acts on the upper surface of the platform rotation second thrust bearing 86. The lower section passes through the platform rotation second thrust bearing 86, the platform rotation driven gear 84, and the platform rotation first thrust bearing 85 and is mounted on the platform transmission base 81. It is installed in the mounting groove of the platform rotation second thrust bearing. The platform rotation driven gear 84 is fixed to the manned frame base shaft 90 by a connecting key. 14. Counterweight system, such as Figure 21 As shown, the main safety accessory of the present invention is mainly composed of a counterweight 10 and a dynamic balancing counterweight 11. Specifically: The counterweight block 10, designed as a standard module, has a quick assembly and connection function. It is installed in the counterweight bracket 20-9 of the mobile walking device, the main rotating base counterweight box 40-2, and the auxiliary rotating base counterweight box 50-3. Different weights of counterweight blocks can be placed according to different load capacities to ensure the safe use of the device of the present invention. The counterweight block 10 has a handling handle 10-1 and a counterweight block mounting hole 10-2 on its body 10. Dynamic balancing weight 11, such as Figure 22 As shown, the design is a linkage balance counterweight structure, mainly composed of a dynamic balance counterweight transmission gear 11-1, a dynamic balance counterweight mounting bearing 11-2, and a dynamic balance counterweight block 11-3. The dynamic balance counterweight transmission gear 11-1 and the dynamic balance counterweight mounting bearing 11-2 can be adapted and selected according to the actual working conditions on site. The dynamic balance counterweight block 11-3 is a customized product with an overall rectangular structure. The rear section is the dynamic balance counterweight body 11-3-4, and the front section is equipped with a U-shaped mounting lug 11-3-3. The end of the lug is equipped with a dynamic balance counterweight block gear 11-3-1 with the same parameters as the dynamic balance counterweight transmission gear 11-1. The middle part is equipped with a dynamic balance counterweight block mounting bearing mounting through hole 11-3-2. Specifically: such as Figure 23 As shown, two counterweight transmission gears 11-1 are respectively mounted on the auxiliary rotating seat bracket mounting shaft 50-1 and the second dynamic balance counterweight mounting shaft 50-3. The inner rings of two balance counterweight mounting bearings 11-2 are respectively mounted on the mounting bosses 40-4-1 at the front and rear ends of the first dynamic balance counterweight mounting shaft 40-4 through an interference fit. The outer rings of the dynamic balance counterweight mounting bearings 11-2 are mounted in the dynamic balance counterweight block mounting bearing mounting through hole 11-3-2 through an interference fit. The dynamic balance counterweight transmission gears 11-1 and the dynamic balance counterweight block gears 11-3-1 operate in linkage through gear meshing. The relative position of the dynamic balance counterweight block 11-3 can be dynamically adjusted by the rotation of the auxiliary rotating seat 5 in the vertical dimension, thereby realizing the dynamic leveling function of the auxiliary rotating seat 5 during operation and ensuring the safe operation of the auxiliary rotating seat 5 in the vertical dimension. 15. Fall protection systems, such as Figure 24 As shown, this invention provides an independent safety protection system for workers. It is installed on a fixed component above the work area, such as the track 14 or the arc-shaped gate arm. It mainly consists of a fall arrestor 12 and a fall arrestor 13. The fall arrestor 12 consists of a moving trolley 12-1, a locking device 12-2, and a boom 12-3. The upper end of the fall arrestor 13 is installed at the end of the boom 12-3, and the lower end provides a suspension point for the safety belt worn by the worker.

[0037] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station, characterized in that, include: Mobile walking device (2): used for walking along the support track (1); Main rotating base (4): mounted on the mobile walking device (2); Subsidiary rotary base (5): mounted on the main rotary base (4); Main boom base (60): mounted on the auxiliary rotary base (5); Main boom (61): Used to hinge with the auxiliary boom (62) through the connecting plate (63) to form the main boom, and is hinged as a whole to the main boom base (60). Telescopic boom (65): It is slidably disposed inside the main boom (61) and is driven to extend and retract by the telescopic boom drive device (66); Manned frame (9): connected to the end of telescopic boom (65) via platform rotation mechanism (8) and platform leveling mechanism (7); Counterweight system: including a mobile walking device counterweight bracket (20-9) on the mobile walking device (2) and a dynamic balance counterweight (11) on the main rotating base counterweight box (40-2) on the main rotating base (4) and the auxiliary rotating base (5). Fall protection system: including fall protection bracket (12) and fall brake (13), the fall protection bracket (12) is fixed to the independent support surface of the dam (0) above the operation.

2. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The mobile walking device (2) includes a support frame (20), supporting walking wheels (22) and a walking drive device (23); the support frame (20) is used to install the supporting walking wheels (22) and the walking drive device (23). The supporting wheel (22) includes a supporting wheel (22-1) and a traveling gear (22-2). The supporting wheel (22-1) is rolled and supported on the top surface of the supporting track (1). The traveling gear (22-2) meshes with a rack (1-2) located on the side of the supporting track (1). The output end of the walking drive device (23) is connected to the walking gear (22-2) to drive the mobile walking device (2) to walk along the support track (1); The support frame (20) is provided with a thrust bearing mounting groove (20-1), a main rotating base mounting shaft (20-2), a drive bearing mounting hole (20-3), a drive device mounting plate (20-4), an anti-derailment rail clamping device mounting bracket (20-5), an anti-derailment device drive mechanism mounting bracket (20-6), an operating rod mounting hole (20-7), a support walking wheel mounting seat (20-8), and a mobile walking device counterweight bracket (20-9).

3. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 2, characterized in that, It also includes an anti-derailment rail clamping device (3); the anti-derailment rail clamping device (3) includes an anti-derailment wheel (30), a crank arm (31), a drive block (32) and an operating lever (33); The anti-detachment wheel (30) is hinged to the anti-detachment rail clamping device mounting bracket (20-5) of the support frame (20) via the crank arm (31), and the anti-detachment wheel (30) abuts against the inner flange plate of the support rail (1); The operating lever (33) is threaded to the drive block (32), which is slidably mounted on the support frame (20) and linked with the crank arm (31) to control the anti-detachment wheel (30) to press or release the support rail (1).

4. The on-site maintenance manned device for the metal structure of the backwater side of the arc-shaped gate of a hydropower station according to claim 1, characterized in that, The main rotating base (4) includes a main rotating base support (40), a main drive motor (42), a drive gear (43), and a main driven gear (44). The driving gear (44) is fixedly sleeved on the bottom of the main rotating base support (40) and meshes with the driving gear (43); The drive gear (43) is driven by the main drive motor (42), thereby causing the main rotating base (4) to rotate relative to the moving walking device (2) around the vertical axis.

5. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The auxiliary rotary seat (5) includes an auxiliary rotary seat bracket (50), a first auxiliary main drive motor (52), a first auxiliary drive gear (53), and a first auxiliary driven gear (54). The first driven gear (54) is fixedly connected to the side of the auxiliary rotary seat bracket (50) and meshes with the first driving gear (53); The first set of drive gears (53) is driven by the first set of main drive motors (52), thereby causing the secondary rotating base (5) to rotate relative to the main rotating base (4) around the horizontal axis.

6. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, A main boom hydraulic device (64) is provided between the main boom (61) and the auxiliary boom (62). The cylinder of the main boom hydraulic device (64) is hinged to the main boom base (60), and the piston rod (64-2) is hinged to the main boom rod (61) to drive the main boom to swing in the vertical plane.

7. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The telescopic boom drive device (66) is a hydraulic cylinder, the cylinder body of which is fixed inside the main boom (61), and the piston rod (66-2) is connected to the telescopic boom (65) to drive the telescopic boom (65) to extend and retract axially along the main boom (61).

8. The on-site maintenance manned device for the metal structure of the backwater side of the arc-shaped gate of a hydropower station according to claim 1, characterized in that, The passenger frame (9) includes a base frame (91), a kickboard (92), and a protective fence (93); The manned frame (9) is connected to the platform support frame (80) of the platform rotation mechanism (8) via the manned frame base shaft (90).

9. A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 8, characterized in that, The platform rotation mechanism (8) includes a platform rotation main drive motor (82), a platform rotation drive gear (83), and a platform rotation driven gear (84). The driven gear (84) for platform rotation is fixedly sleeved on the shaft (90) of the base of the manned frame and meshes with the driving gear (83) for platform rotation. The platform rotation drive gear (83) is driven by the platform rotation main drive motor (82) to drive the manned frame (9) to rotate around its vertical central axis.

10. A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, It also includes platform leveling agencies (7); The platform leveling mechanism (7) includes a tripod plate (70), a leveling main rod (71), a leveling auxiliary rod (72), a leveling active hydraulic device (73), and a leveling micro-motion hydraulic device (74). One end of the tripod plate (70) is hinged to the end of the telescopic arm (65), and the other end is hinged to the leveling main rod (71) and the leveling auxiliary rod (72) respectively. The other ends of the leveling main rod (71) and the leveling auxiliary rod (72) are hinged to the platform support frame (80). The leveling active hydraulic device (73) is connected between the tripod plate (70) and the telescopic arm (65), and the leveling micro-motion hydraulic device (74) is connected between the leveling main rod (71) and the tripod plate (70), working together to achieve automatic leveling of the manned frame (9).

11. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The dynamic balancing counterweight (11) includes a dynamic balancing counterweight block (11-3) and a dynamic balancing counterweight transmission gear (11-1). The left and right dynamic balance weight transmission gears (11-1) are fixedly installed on the auxiliary rotating seat bracket mounting shaft (50-1) and the second dynamic balance weight mounting shaft (50-3) of the auxiliary rotating seat (5) respectively by connecting keys; The dynamic balance counterweight (11-3) is rotatably mounted on the first dynamic balance counterweight mounting shaft (40-4) of the main rotating base (4) via the dynamic balance counterweight mounting bearing (11-2). The end of the dynamic balance counterweight (11-3) is provided with a dynamic balance counterweight gear (11-3-1), which can mesh with the dynamic balance counterweight transmission gear (11-1) installed on both sides of the auxiliary rotating base (5). The dynamic balance counterweight transmission gear (11-1) is linked with the rotating components of the main rotating base (4) or the secondary rotating base (5), so that the dynamic balance counterweight (11-3) rotates in the opposite direction as the platform posture changes, thereby achieving dynamic center of gravity compensation.

12. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The fall arrestor (12) includes a trolley (12-1), a locking device (12-2), and a boom (12-3). The mobile trolley (12-1) moves independently on the track (14) of the dam (0) support surface and rotates to the area above the manned frame (9) via the boom (12-3); The locking device (12-2) is provided on the mobile trolley (12-1) and is used to lock the mobile trolley (12-1) on the track (14) or other fixed parts after the protective area is adjusted.

13. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 12, characterized in that, The upper end of the fall brake (13) is installed at the end of the boom (12-3) of the fall arrestor (12), and the lower end provides a suspension point for the safety belt worn by the worker.

14. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The support rail (1) includes a main rail (1-1) and a rack (1-2) fixed to its side. The support rail (1) is fixed to the arc-shaped gate arm (02-2) by prefabrication or welding.

15. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, A second auxiliary transmission assembly is provided between the auxiliary rotating base (5) and the main boom base (60), including a second auxiliary main drive motor (58), a second auxiliary drive gear (57) and a second auxiliary driven gear (56), which are used to assist in driving the main boom base (60) to rotate around the main boom base stepped mounting shaft (60-1).

16. The on-site maintenance manned device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The main boom base (60) is provided with a main boom swing avoidance channel (60-4) to provide space for the swing of the main boom (61) and the auxiliary boom (62).

17. A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 10, characterized in that, The leveling sub-rod (72) is provided with a U-shaped groove (72-2) to avoid interference with the operation of the leveling micro-hydraulic device (74).

18. A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 1, characterized in that, The reduced-diameter mounting section (33-3) of the operating lever (33) can be rotatably mounted in the operating lever mounting hole (20-7) of the support frame (20) of the mobile walking device (2). The upper part is connected to the drive motor (34) mounted on the drive mechanism mounting bracket (20-6) of the detachment device via a connecting key. Under the action of the drive motor (34), the anti-detachment rail clamping device (3) can be locked and fully opened. The lower end of the operating lever (33) is also provided with an external hexagonal operating boss (33-4) for use with tools to realize emergency manual control of the anti-detachment rail clamping device (3).

19. A manned on-site maintenance device for the metal structure of the backwater side of an arc-shaped gate in a hydropower station according to claim 2, characterized in that, The counterweight system also includes a detachable counterweight (10), which is placed or fixed in the counterweight bracket (20-9) of the mobile walking device and the counterweight box (40-2) of the main rotating base.

20. A method for using a manned maintenance device for the metal structure on the backwater side of an arc-shaped gate in a hydropower station, as claimed in any one of claims 1 to 19, characterized in that... Includes the following steps: S1: Inspection and installation of manned equipment: 1) Fix the support rail (1) to the left and right arc gate arms (02-2) of the arc gate (02) of the flood discharge channel (01) of the dam (0) by welding or prefabrication; 2) Hoist the two manned devices onto the support rails (1) of the left and right arc-shaped gate arms (02-2). The left actuator of the manned device installed on the left arc-shaped gate arm (02-2) is responsible for the maintenance area between the left arc-shaped gate arm (02-2) and the left facade of the flood discharge channel (01), while the right actuator is responsible for the maintenance area between the left arc-shaped gate arm (02-2) and the right arc-shaped gate arm (01). The maintenance area on the left side between the arms (02-2); the left actuator of the manned device installed on the right side of the arc gate arm (02-2) is responsible for the maintenance area on the right side between the arc gate arm (02-2) on the left side of the arc gate and the arc gate arm (02-2) on the right side of the arc gate; the right actuator is responsible for the maintenance area between the arc gate arm (02-2) on the right side of the arc gate and the right facade of the flood discharge channel (01); 3) Place the counterweight (10) in the counterweight bracket (20-9) of the mobile walking device and the counterweight box (40-2) of the main rotating base according to the platform’s manned requirements, and lock it to the track flange plate by the anti-derailment clamping device (3) to prevent derailment; S2: Adjusting the direction of the manned device during maintenance: Start the main drive motor (42), drive the active gear (43) to drive the main driven gear (44) to rotate, so that the main rotating base (4) rotates around the vertical axis to the target azimuth angle and aligns with the projection position of the front and rear inspection areas. The front and rear inspection areas mainly include the front inspection area and the rear inspection area. The front inspection area includes the beam grid and panel of the back water surface (02-1) of the arc gate and the area around the front part of the arc gate support arm (02-2). The rear inspection area includes the area around the arc gate hinge (02-3) and the area around the rear part of the arc gate support arm (02-2). S3: Maintenance of manned device attitude adjustment: Start the first auxiliary main drive motor (52), drive the first auxiliary active gear (53) to drive the first auxiliary driven gear (54) to rotate, so that the auxiliary rotating seat (5) pitches around the horizontal axis to the target tilt angle, matching the local curvature of the backwater surface of the arc gate (02); S4: Adjustment of horizontal position of maintenance area: Start the second auxiliary main drive motor (58), drive the second auxiliary active gear (57) to drive the second auxiliary driven gear (56) to rotate, so that the main arm base (60) rotates left and right around the longitudinal axis to the target position, matching the local width of the backwater surface of the arc gate (02); S5: Vertical position adjustment of the inspection area: Operate the main boom hydraulic device (64) to drive the main boom rod (61) to swing up and down and adjust the overall pitch angle of the main boom; at the same time, start the telescopic boom drive device (66) to push the telescopic boom rod (65) to extend along the main boom rod (61) axially, so that the personnel frame (9) accurately reaches the backwater surface of the arc gate (02) to be inspected. S6: The platform leveling mechanism (7) automatically adjusts according to the posture of the manned frame (9): The leveling active hydraulic device (73) and the leveling micro-motion hydraulic device (74) work together to keep the manned frame (9) in a horizontal state through the linkage mechanism composed of the tripod plate (70), the leveling main rod (71) and the leveling auxiliary rod (72); S7: The operator fastens the safety belt to the lower suspension point of the fall brake (13) and carries out maintenance work such as bolt tightening, non-destructive testing or anti-corrosion in the personnel frame (9); the fall protection system is in standby mode throughout the process and will trigger the braking protection once an abnormal fall occurs. S8: After the maintenance is completed, retract the telescopic boom (65), reset the main boom angle, rotate the auxiliary rotating seat (5) to the initial tilt angle, and rotate the main rotating base (4) to the initial azimuth angle to complete the platform reset; release the anti-derailment clamping device (3) from the locking state, hoist the maintenance personnel carrier out of the installation position and transfer it to the storage warehouse.

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