Gate precise positioning auxiliary adjustment method

Abstract

The application relates to the technical field of hoisting and closing equipment of a hydropower station, in particular to a gate accurate positioning auxiliary adjusting method, steps of which are as follows: a telescopic oil cylinder drives a telescopic arm to elongate, and a movable beam is pushed to be close to a gate; the movable beam rotates around a hinge point between the movable beam and the end of the telescopic arm to be adsorbed with the gate, an electromagnet on the movable beam is started, and the movable beam is completely attached to a gate panel; the gate is completely aligned with a gate slot and is kept; the gate hoist continues to lower the gate, the gate keeps stable in a horizontal direction and slides along the magnetic guide wheel on the movable beam, smoothly enters the gate slot, and the gate hoisting work is completed; the method forces the gate to be completely aligned with the gate slot by installing the telescopic arm and the movable beam on the lower cross beam of the gate hoist, and the gate hoist is facilitated to smoothly hoist and lower the gate into the gate slot.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hoist and closure equipment of hydropower stations, and in particular to a gate precise positioning auxiliary adjustment method. BACKGROUND

[0002] Currently, during the hoisting and transporting of the gate into the slot, the gate swings back and forth under the action of horizontal wind force perpendicular to the gate panel, which makes it difficult to align with the slot and smoothly enter the slot. The current solution is to manually push and pull the gate to align it with the slot and keep it aligned, while the hoist immediately lowers the gate until it enters the slot, and then the auxiliary personnel can release the constraint on the gate. This operation method is time-consuming and labor-intensive, and there is a high safety risk. The gate precise positioning auxiliary adjustment method aims to solve the above problems, which can adjust the position of the gate to align with the slot without manual assistance.

[0003] The existing patents in the field, such as the Chinese invention patent with patent application number CN202210503631.X and the name of "A rotary crane device", its technical solution is: the present application discloses a rotary crane device, which belongs to the technical field of hoist and closure equipment, comprising a lifting device, characterized in that: the lifting device comprises an upper lifting frame, a pulley shaft, a movable pulley set, a pin member, a lifting head, a lower lifting frame, a lifting hook beam, a lifting hook nut, a rotary drive member and a grab beam, the movable pulley set is installed on the upper lifting frame through the pulley shaft, the lifting head is fixed on the upper lifting frame through the pin member, the lifting hook beam penetrates the lifting hook nut and is installed on the lower lifting frame, the lifting hook nut is connected with the lifting head, a rotary bearing is installed between the lifting hook beam and the lifting hook nut, the rotary drive member is installed on the lower lifting frame, and the grab beam is connected with the lower lifting frame. The rotary mechanism disclosed in the above patent cannot conveniently place the gate in the slot, and the problem that the gate is difficult to align with the slot during the hoisting and transporting of the gate is still solved by manual participation of auxiliary personnel. SUMMARY

[0004] To solve the above problems existing in the prior art, the present application proposes a gate precise positioning auxiliary adjustment method which can realize precise positioning of the gate.

[0005] To achieve the above technical effects, the present application is realized by the following technical scheme:

[0006] A gate precise positioning auxiliary adjustment method, comprising the following steps:

[0007] The hoist and closure equipment lowers the gate to above the aperture, and the rotary mechanism drives the telescopic arm to rotate to a state perpendicular to the lower cross beam axis of the hoist and closure equipment;

[0008] The telescopic oil cylinder drives the telescopic arm to elongate, and pushes the movable beam to approach the gate;

[0009] The telescopic oil cylinder continues to drive the telescopic arm to extend, thereby reducing the distance between the movable beam and the gate, and the movable beam is driven by the two-end hinged installation type hydraulic cylinder to rotate around the hinge point at the end of the telescopic arm until the magnetic guide wheel on the movable beam is adsorbed with the gate, and the telescopic oil cylinder stops working;

[0010] The electromagnet on the movable beam is started to completely adhere the movable beam to the gate panel;

[0011] The feeding amount of the two-end hinged installation type hydraulic cylinder is adjusted to push or pull the gate to completely align with the lower gate slot and keep;

[0012] The gate hoist continues to lower the gate, the gate keeps stable in the horizontal direction and slides along the magnetic guide wheel on the movable beam to smoothly enter the gate slot, and the gate hoisting work is completed;

[0013] After the gate enters the slot, the electromagnet is released, the telescopic arm drives the movable beam to retract, and the rotary mechanism drives the telescopic arm to rotate to a parallel state with the lower cross beam of the gate hoist, and enters the next gate hoisting work.

[0014] Further, all the magnetic guide wheels are installed at the same height.

[0015] Further, the gate hoist lowers the gate to above the orifice, the rodless cavity of the rotary oil cylinder is filled with oil, the rotary mechanism is driven to rotate, and the telescopic arm is rotated to a vertical state with the axis of the lower cross beam of the gate hoist;

[0016] Further, the rodless cavity of the telescopic oil cylinder is filled with oil, the telescopic arm is driven to extend through the rope arrangement system, and the movable beam is pushed to approach the gate.

[0017] Further, when approaching to the specified distance, the visual sensor feeds back a signal to the hydraulic system, the oil inflow is reduced, the telescopic oil cylinder continues to drive the telescopic arm to extend at low speed, thereby reducing the distance between the movable beam and the gate, until the magnetic guide wheel on the movable beam is adsorbed with the gate, at this time, the hydraulic system stops oil filling, the telescopic oil cylinder stops working, and the working state is kept.

[0018] Further, the electromagnet on the movable beam is electrified, under the action of the electromagnet, the magnetic guide wheel completely adheres to the gate panel, at this time, the electromagnet is sufficient to resist the torque generated by the wind, the gate and the magnetic guide wheel can move up and down, by controlling the rotation angle of the movable beam, the angle between the gate and the gate slot is adjusted.

[0019] Further, the visual sensor detects the angle relationship between the gate and the gate slot, feeds back a signal to the hydraulic system to control the oil inflow or return of the two-end hinged installation type hydraulic cylinder, drives the movable beam to rotate around the hinge point at the end of the telescopic arm, thereby adjusting the angle of the gate to completely align with the lower gate slot and keep; the gate has been completely constrained in the horizontal direction, and the mechanical retaining device installed on the lower cross beam of the gate hoist offsets the influence of the wind on the gate to completely align the gate with the gate slot.

[0020] Further, the hoist continues to lower the gate, the gate keeps stable in horizontal direction and slides along the magnetic guide wheel on the movable beam, and smoothly enters the gate slot to complete the hoisting work of the gate.

[0021] Further, after the gate enters the slot to the specified depth, the visual sensor feeds back the signal, the electromagnet is powered off, the hydraulic system fills the rod cavity of the telescopic oil cylinder, drives the telescopic arm and the movable beam to retract, fills the rod cavity of the rotary oil cylinder, drives the rotary mechanism to rotate and drives the telescopic arm to rotate to the parallel state with the lower cross beam of the hoist, and enters the hoisting work of the next gate.

[0022] Further, the telescopic arm structure can also be replaced by a multi-stage oil cylinder, which has the same function.

[0023] The application has the advantages that:

[0024] The method forces the gate to be completely aligned with the gate slot by installing the telescopic arm and the movable beam on the lower cross beam of the hoist, and facilitates the hoist to smoothly hoist and lower the gate into the gate slot.

[0025] The gate hoisting work is carried out by using the gate precise positioning auxiliary adjustment method, the swing deviation of the gate caused by the wind force can be offset without manual assistance, the gate can be smoothly hoisted and lowered into the gate slot, the safety hidden danger of the gate hoisting work is eliminated, the hoisting efficiency of the gate into the slot is improved, and the efficient and safe hoisting work of the gate by the hoist of the hydropower station has positive significance.

[0026] The application does not occupy a large space, is completely below the lower cross beam of the gate machine in a non-working state, and has no influence on the operation of the original equipment. DETAILED DESCRIPTION

[0027] Figure 1 It is a schematic diagram of the whole method.

[0028] Figure 2 It is a schematic diagram of the gate and the gate slot.

[0029] Figures 3-7 It is a flow chart of the specific steps of the method.

[0030] In the drawings: 1-rotary mechanism, 2-telescopic arm, 3-movable beam, 4-magnetic guide wheel, 5-electromagnet, 6-hydraulic cylinder with two ends hinged and installed, 7-rotary oil cylinder, 8-gate, 9-lower cross beam, 10-gate slot. DETAILED DESCRIPTION

[0031] The embodiments of the application will be described in detail below, the embodiments are implemented on the premise of the technical scheme of the application, and detailed implementation modes and specific operation processes are given, but the protection scope of the application is not limited to the following embodiments.

[0032] It should be noted that all directional indications in the embodiments of the present invention (such as sides, edges, top, bottom, left, right, front, back, middle, top, bottom, tail, axial, radial, etc.) are only used to explain the relative positional relationship and motion state between the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indications will also change accordingly.

[0033] Example 1

[0034] A method for precise positioning and auxiliary adjustment of a gate includes the following steps:

[0035] The arrangement of the hoisting gate 8 is shown in the attached figure. Figure 2 As shown. The hoist connects to the gate 8 to control its opening and closing. If the gate 8 is deviated due to wind force during its lowering process, the gate 8 may not align with the gate slot 10, making it difficult for the gate 8 to enter the slot. The mechanical holding device provided by the gate precise positioning auxiliary adjustment method of this invention retracts inside the lower crossbeam 9 of the hoist under normal operating conditions, and will not affect the hoisting operation. As shown in the attached diagram. Figure 3 As shown. When the gate 8 is lowered by the hoist and encounters strong winds, causing the gate 8 to tilt, the mechanical holding device starts to work, adjusts the attitude of the gate 8, and assists the hoist in completing the hoisting and lowering of the gate 8 into the slot.

[0036] The workflow is as follows: The hoist lowers the gate 8 to above the orifice, and the slewing mechanism 1 drives the telescopic arm 2 to rotate until it is perpendicular to the axis of the lower crossbeam 9 of the hoist, as shown in the attached diagram. Figure 4 As shown;

[0037] The telescopic cylinder extends the telescopic arm 2, pushing the moving beam 3 closer to the gate 8, as shown in the attached diagram. Figure 5 As shown;

[0038] The telescopic cylinder continues to drive the telescopic arm 2 to extend, thereby reducing the distance between the moving beam 3 and the gate 8. The moving beam 3 is driven by the hydraulic cylinder 6 with hinged ends to rotate around the hinge point between the moving beam 3 and the end of the telescopic arm 2 until the magnetic guide wheel 4 on the moving beam 3 attracts the gate 8, and the telescopic cylinder stops working.

[0039] Start the electromagnet 5 on the moving beam 3 to make the moving beam 3 completely fit with the panel of the gate 8; the electromagnet 5 will not directly contact the gate 8, and there is only sliding friction between the gate 8 and the magnetic guide wheel 4. Since the electromagnet 5 and the magnetic guide wheel 4 are in the same direction relative to the gate 8, the gate 8 is tightly attached to the magnetic guide wheel 4 under the action of magnetic force. At this time, the gate 8 can move up and down.

[0040] Adjust the feed rate of the hydraulic cylinder 6, which is hinged at both ends. The feed rate of the cylinder is controlled by the hydraulic system. By detecting the relative position of the gate 8 and the gate slot 10, the sensor outputs a signal to the hydraulic system. The hydraulic system controls the oil inlet and outlet of the cylinder according to the feedback signal, pushing or pulling the gate 8 to make it completely aligned with and maintain its position with the gate slot 10 below, as shown in the attached figure. Figure 6 As shown; the gate 8 is fully restrained in the horizontal direction, and the mechanical retaining device installed on the lower beam 9 of the hoist counteracts the effect of wind on the gate 8 and fully aligns the gate 8 with the gate slot 10.

[0041] The hoist continues to lower the gate 8. The gate 8 remains horizontal and stable, sliding down the magnetic guide wheel 4 on the moving beam 3 and smoothly entering the gate slot 10, completing the hoisting of the gate 8. (See attached diagram) Figure 7 As shown.

[0042] After the gate 8 enters the slot, the electromagnet 5 is released, the telescopic arm 2 drives the moving beam 3 to retract, and the slewing mechanism 1 drives the telescopic arm 2 to rotate to a state parallel to the lower crossbeam 9 of the hoist, and then the hoisting work of the next gate 8 begins.

[0043] All magnetic guide wheels 4 are installed at the same height to ensure that the gate 8 will not have any additional angular deviation when it is attracted to the gate 8.

[0044] Example 2

[0045] A method for precise positioning and auxiliary adjustment of a gate includes the following steps:

[0046] The arrangement of the hoisting gate 8 is shown in the attached figure. Figure 2 As shown. The hoist connects to the gate 8 to control its opening and closing. If the gate 8 is deviated due to wind force during its lowering process, the gate 8 may not align with the gate slot 10, making it difficult for the gate 8 to enter the slot. The mechanical holding device provided by the gate precise positioning auxiliary adjustment method of this invention retracts inside the lower crossbeam 9 of the hoist under normal operating conditions, and will not affect the hoisting operation. As shown in the attached diagram. Figure 3 As shown. When the gate 8 is lowered by the hoist and encounters strong winds, causing the gate 8 to tilt, the mechanical holding device starts to work, adjusts the attitude of the gate 8, and assists the hoist in completing the hoisting and lowering of the gate 8 into the slot.

[0047] The workflow is as follows: The hoist lowers the gate 8 to above the orifice, and the slewing mechanism 1 drives the telescopic arm 2 to rotate until it is perpendicular to the axis of the lower crossbeam 9 of the hoist, as shown in the attached diagram. Figure 4 As shown;

[0048] The telescopic cylinder extends the telescopic arm 2, pushing the moving beam 3 closer to the gate 8, as shown in the attached diagram. Figure 5 As shown;

[0049] The telescopic arm 2 is continuously extended by the telescopic oil cylinder, and the distance between the movable beam 3 and the gate 8 is reduced, and the movable beam 3 is driven by the two-end hinged installation type hydraulic cylinder 6, rotates around the hinge point at the end of the movable beam 3 and the telescopic arm 2, until the magnetic guide wheel 4 on the movable beam 3 is adsorbed with the gate 8, and the telescopic oil cylinder stops working;

[0050] The electromagnet 5 on the movable beam 3 is started, and the movable beam 3 is completely attached to the panel of the gate 8; the electromagnet 5 does not directly contact the gate 8, and there is only sliding friction between the gate 8 and the magnetic guide wheel 4, and since the direction of the electromagnet 5 and the magnetic guide wheel 4 is consistent with the direction of the gate 8, the gate 8 is tightly attached to the magnetic guide wheel 4 under the action of the magnetic force, at this time, the gate 8 can move up and down.

[0051] The feed amount of the two-end hinged installation type hydraulic cylinder 6 is adjusted, the feed amount of the oil cylinder is controlled by the hydraulic system, the relative position of the gate 8 and the gate slot 10 is detected, the sensor output signal is fed back to the hydraulic system, and the hydraulic system controls the oil feeding and oil returning of the oil cylinder according to the feedback signal, and the gate 8 is pushed or pulled to be completely aligned with the gate slot 10 below and kept, as shown in the accompanying drawings. Figure 6 The gate 8 is completely aligned with the gate slot 10 by the mechanical retaining device installed on the lower beam 9 of the gate hoist, and the influence of the wind on the gate 8 is offset;

[0052] The gate hoist continues to lower the gate 8, the gate 8 keeps stable in the horizontal direction and slides down along the magnetic guide wheel 4 on the movable beam 3, and smoothly enters the gate slot 10, and the hoisting work of the gate 8 is completed, as shown in the accompanying drawings. Figure 7

[0053] After the gate 8 enters the slot, the electromagnet 5 is released, the telescopic arm 2 drives the movable beam 3 to retract, the rotary mechanism 1 drives the telescopic arm 2 to rotate to a parallel state with the lower beam 9 of the gate hoist, and enters the hoisting work of the next gate 8.

[0054] All the magnetic guide wheels 4 are installed at the same height, so that the gate 8 will not produce additional angular deviation when being adsorbed.

[0055] More specifically, the gate hoist lowers the gate 8 to above the orifice, the rodless cavity of the telescopic oil cylinder 2 is filled with oil, the rotary mechanism 1 is driven to rotate, and the telescopic arm 2 is rotated to be perpendicular to the axis of the lower beam 9 of the gate hoist, as shown in the accompanying drawings. Figure 4

[0056] The rodless cavity of the telescopic oil cylinder is filled with oil, the telescopic arm 2 is extended by the rope arrangement system, and the movable beam 3 is pushed to approach the gate 8, as shown in the accompanying drawings. Figure 5

[0057] ​​​When approaching to the specified distance, the visual sensor feedback signal to the hydraulic system, reduce the flow of oil, telescopic cylinder to continue to drive the telescopic arm 2 extension, and then reduce the distance between the beam 3 and the gate 8, until the magnetic guide wheel 4 on the beam 3 and the gate 8 adsorption, at this time, the hydraulic system stops oil, telescopic cylinder stop working, keep working state.

[0058] The electromagnet 5 on the beam 3 is energized, under the action of the electromagnet 5, the magnetic guide wheel 4 and the gate 8 panel completely adhere, at this time the electromagnet 5 is enough to resist the torque generated by the wind, the gate 8 and the magnetic guide wheel 4 can move up and down, by controlling the rotation angle of the beam 3, thereby adjusting the angle of the gate 8 and the gate slot 10.

[0059] The visual sensor detects the angle relationship between the gate 8 and the gate slot 10, and feeds back the signal to the hydraulic system to control the oil or return oil of the two end hinged installation type hydraulic cylinder 6, to drive the beam 3 to rotate around the hinge point between the beam 3 and the telescopic arm 2, so as to adjust the angle of the gate 8, so that it is completely aligned with the gate slot 10 below and kept, as shown in the accompanying Figure 6 The gate 8 is completely aligned with the gate slot 10 by the mechanical retaining device installed on the lower beam 9 of the hoist, which offsets the influence of the wind on the gate 8. The visual sensor is a well-known technology in the art.

[0060] The hoist continues to lower the gate 8, and the gate 8 remains stable in the horizontal direction and slides down along the magnetic guide wheel 4 on the beam 3, smoothly enters the gate slot 10, and completes the hoisting work of the gate 8, as shown in the accompanying Figure 7 .

[0061] After the gate 8 enters the slot to the specified depth, the visual sensor feedback signal, the electromagnet 5 is deenergized, the hydraulic system to the telescopic cylinder rod cavity oil, drive telescopic arm 2 and beam 3 back, rotary cylinder 7 rod cavity oil, drive rotary mechanism 1 rotation drive telescopic arm 2 rotation to parallel state with the lower beam 9 of the hoist, into the next gate 8 hoisting work.

[0062] The telescopic arm 2 structure can also be replaced by multi-stage oil cylinder, which has the same function.

[0063] The structure for realizing the method can be a mechanical retaining device for accurately positioning and assisting adjustment of the gate 8, which comprises a rotary mechanism 1 arranged on the lower beam 9, the rotary mechanism 1 is provided with a telescopic arm 2, the end of the telescopic arm 2 is provided with a beam 3, the beam 3 is provided with a magnetic guide wheel 4, and the magnetic guide wheel 4 is provided with an electromagnet 5.

[0064] The movable beam 3 is provided with a two-end hinged hydraulic cylinder 6 at the end of the telescopic arm 2. The type of the two-end hinged hydraulic cylinder 6 can be selected according to the actual needs in the prior art. The fixed end of the two-end hinged hydraulic cylinder 6 is connected with the tail end of the telescopic arm 2, and the output end of the two-end hinged hydraulic cylinder 6 is connected with one end of the movable beam 3.

[0065] The rotating mechanism 1 is connected with a rotating oil cylinder 7.

[0066] The movable beam 3 is long strip-shaped, and one magnetic guide wheel 4 is arranged at each of the upper and lower ends of the movable beam 3. At least one electromagnet 5 is arranged beside each magnetic guide wheel 4, and the magnetic guide wheel 4 is a permanent magnet. There are at least two magnetic guide wheels 4.

[0067] In the windless or slight wind condition, the electromagnet 5 does not need to be powered, and the magnetic guide wheel 4 can adsorb the gate 8. When the torque generated by the wind exceeds the adsorption capacity of the magnetic guide wheel 4, the electromagnet 5 is powered to resist the wind force and ensure that the gate 8 is closely attached to the magnetic guide wheel 4. The number of magnetic guide wheels 4 is at least two, and one cannot constrain the gate 8 to be parallel to the movable beam 3. An electromagnet 5 needs to be arranged beside each magnetic guide wheel 4, otherwise it cannot be guaranteed that the magnetic guide wheel 4 is closely attached to the gate 8 when the movable beam 3 adjusts the entry angle of the gate 8 into the slot in the strong wind condition. The position is not limited to beside the magnetic guide wheel 4, and if the magnetism is not enough, the electromagnet 5 can be increased. The magnetism of the electromagnet 5 needs to be enough to resist the torque generated by the wind.

[0068] The telescopic arm 2 is connected with a telescopic oil cylinder, which drives the telescopic arm 2 to extend and retract. The telescopic arm 2 is a multi-stage telescopic arm 2, and the specific stage number can be selected according to the actual working condition. The telescopic arm 2 is provided with a rope arrangement system inside, and the telescopic oil cylinder drives each stage of the arm frame to extend or retract through a pulley and a rope. The working principle of the telescopic arm 2 used in the application has been maturely applied in the hoisting field, such as a truck crane. The end of the telescopic arm 2 is hinged with the movable beam 3.

Claims

1. A method of accurately positioning the gate adjustment, characterized in that: It comprises the following steps, The gate (8) is lowered by the hoist to above the orifice, the rotating mechanism (1) drives the telescopic arm (2) to rotate to be perpendicular to the axis of the lower beam (9) of the hoist. The telescopic oil cylinder drives the telescopic arm (2) to extend, and pushes the movable beam (3) to approach the gate (8). The telescopic oil cylinder continues to drive the telescopic arm (2) to extend, and further reduces the distance between the movable beam (3) and the gate (8), and the movable beam (3) is driven by the two-end hinged installation type hydraulic cylinder (6) to rotate around the hinge point at the end of the movable beam (3) and the telescopic arm (2), until the magnetic guide wheel (4) on the movable beam (3) is adsorbed with the gate (8), and the telescopic oil cylinder stops working. The electromagnet (5) on the movable beam (3) is started, and the movable beam (3) is completely attached with the gate (8) panel. The feed amount of the two-end hinged installation type hydraulic cylinder (6) is adjusted, the gate (8) is pushed or pulled to be completely aligned with the lower gate groove (10) and kept. The hoist continues to lower the gate (8), the gate (8) keeps stable in the horizontal direction and slides along the magnetic guide wheel (4) on the movable beam (3), smoothly enters the gate groove (10), and completes the hoisting work of the gate (8). After the gate (8) enters the groove, the electromagnet (5) is released, the telescopic arm (2) drives the movable beam (3) to retract, the rotating mechanism (1) drives the telescopic arm (2) to rotate to be parallel to the lower beam (9) of the hoist, and enters the hoisting work of the next gate (8).

2. The gate precise positioning auxiliary adjustment method according to claim 1, characterized in that: All the magnetic guide wheels (4) have the same installation height.

3. The gate precise positioning auxiliary adjustment method according to claim 1, characterized in that: The hoist lowers the gate (8) to above the orifice, the rodless cavity of the telescopic oil cylinder (7) is filled with oil, the rotating mechanism (1) is driven to rotate, and the telescopic arm (2) is rotated to be perpendicular to the axis of the lower beam (9) of the hoist.

4. The gate precise positioning auxiliary adjustment method according to claim 3, characterized in that: The rodless cavity of the telescopic oil cylinder is filled with oil, the telescopic arm (2) is extended by the rope arrangement system, and the movable beam (3) is pushed to approach the gate (8).

5. The gate precise positioning auxiliary adjustment method according to claim 4, characterized in that: When approaching to the specified distance, the visual sensor feeds back the signal to the hydraulic system, the oil inflow is reduced, the telescopic oil cylinder continues to drive the telescopic arm (2) to extend at low speed, and the distance between the movable beam (3) and the gate (8) is further reduced, until the magnetic guide wheel (4) on the movable beam (3) is adsorbed with the gate (8), at this time, the hydraulic system stops oil inflow, the telescopic oil cylinder stops working, and the working state is kept.

6. The gate precise positioning auxiliary adjustment method according to claim 5, characterized in that: The electromagnet (5) on the movable beam (3) is energized, the magnetic guide wheel (4) is completely attached with the gate (8) panel under the action of the electromagnet (5), at this time, the electromagnet (5) is enough to resist the torque generated by the wind, the gate (8) and the magnetic guide wheel (4) can move up and down, and the angle between the gate (8) and the gate groove (10) is adjusted by controlling the rotation angle of the movable beam (3).

7. The gate precise positioning auxiliary adjustment method according to claim 6, characterized in that: The visual sensor detects the angle relationship between the gate (8) and the gate slot (10), and feeds back the signal to the hydraulic system to control the oil inlet or return of the two-end hinged installation type hydraulic cylinder (6), drive the movable beam (3) to rotate around the hinged point between the movable beam (3) and the telescopic arm (2) end, so as to adjust the angle of the gate (8), so that it is completely aligned with the gate slot (10) below and kept; the gate (8) is completely constrained in the horizontal direction, and the mechanical retaining device installed on the opening and closing machine lower cross beam (9) offsets the influence of wind on the gate (8) to completely align the gate (8) with the gate slot (10).

8. The gate precise positioning auxiliary adjustment method according to claim 7, characterized in that: The opening and closing machine continues to lower the gate (8), the gate (8) keeps stable in the horizontal direction and slides along the magnetic guide wheel (4) on the movable beam (3), smoothly enters the gate slot (10), and completes the gate (8) lifting work.

9. The gate precise positioning auxiliary adjustment method according to claim 8, characterized in that: After the gate (8) enters the slot to the specified depth, the visual sensor feeds back the signal, the electromagnet (5) is de-energized, the hydraulic system enters the oil into the rod cavity of the telescopic oil cylinder, drives the telescopic arm (2) and the movable beam (3) to retract, the rotary oil cylinder (7) enters the oil into the rod cavity, drives the rotary mechanism (1) to rotate and drives the telescopic arm (2) to rotate to the parallel state with the opening and closing machine lower cross beam (9), and enters the next gate (8) lifting work.

10. The gate precise positioning auxiliary adjustment method according to claim 1, characterized in that: The telescopic arm (2) structure can be replaced by multi-stage oil cylinder.

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