Method for precise positioning and adjustment of a swing gate

Abstract

The application relates to the technical field of hoist and closure equipment of a hydropower station, in particular to a precise positioning auxiliary adjustment method for a rotary hoist gate, which comprises the following steps: the arm frame of a hoist and closure machine is rotated to above a gate slot, a controllable rotary hoisting tool below the arm frame hoists the gate, the controllable rotary hoisting tool is synchronously driven to keep the gate level with the gate slot, a folding and unfolding oil cylinder is driven to unfold a folding and unfolding manipulator, the folding and unfolding manipulator automatically clamps the gate, a clamp of the folding and unfolding manipulator is in contact with the gate through a pulley, so that the gate can slide up and down, when the gate enters the slot, a servo motor controls the clamp to be loosened, and the gate is completely aligned with the gate slot; the precise positioning auxiliary adjustment method for the rotary hoist gate is used for hoisting and transporting the gate, manual assistance for pushing and pulling the gate for positioning is not needed, the angle problem of the rotary gate and the gate slot can be solved, the swing deviation of the gate caused by the influence of wind force can be offset, and the gate can be smoothly hoisted and transported into the gate slot.

Description

TECHNICAL FIELD

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

[0002] During the process of hoisting and closing the gate by the rotary hoist, the angle deviation between the gate and the gate slot is caused by the rotary hoisting process, and under the action of horizontal wind force perpendicular to the gate panel, the gate swings back and forth, which makes it difficult to align with the gate slot and smoothly enter the gate slot. The current solution is to manually push and pull the gate to align the gate with the gate slot and keep it aligned, and at the same time, 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 precise positioning auxiliary adjustment method for the rotary hoist gate aims to solve the above problems, which can realize the premise of not needing manual assistance to hold the gate, solve the angle deviation between the gate and the gate slot caused by the rotation of the rotary hoist itself, and offset the influence of wind force on the gate swing, adjust the position of the gate to align with the gate slot, and smoothly lower the gate into the gate slot.

[0003] The existing patents in the field, such as the Chinese invention patent with patent application number CN201910786159.3 and the name of "Hoisting operation method for installation construction of super-large arc gate in flood discharge tunnel", its technical solution is: the present application belongs to the technical field of hydraulic metal structure installation, relates to a hoisting operation method for installation construction of super-large arc gate in a flood discharge tunnel, anchor hooks are pre-buried at appropriate positions such as the top of the tunnel, under the support beam of the hoisting platform, and the side wall as fixed hoisting points, and pulley blocks, hoisting chains, winches, etc. are configured as auxiliary hoisting means, which are used in cooperation with the truck crane for hoisting; with the main hoist of the truck crane, the winch and the hoisting guide chain, the self-made transport trolley is used to transport the installation parts from the tunnel entrance to the tunnel, and the self-made support frame is used for installation adjustment and alignment after the hinge is in place. The above patent cannot conveniently place the gate in the gate slot, and the auxiliary hoisting structure adopted is also relatively complex. The problem that the gate is difficult to align with the gate slot during hoisting and closing 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 precise positioning auxiliary adjustment method for a rotary hoist gate, 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 precise positioning auxiliary adjustment method for a rotary hoist gate, comprising the following steps:

[0007] The arm of the rotating hoist of the hoist and gate machine is rotated to above the gate slot, the controllable rotating hoist below is hoisted with the gate, the controllable rotating hoist is synchronously driven to keep the gate flush with the gate slot, the folding oil cylinder is driven to unfold the folding manipulator, the folding manipulator does not interfere with the gate at this time, the folding manipulator automatically clamps the gate, the clamp of the folding manipulator contacts the gate through a pulley, so that the gate can slide up and down, the gate is completely aligned with the gate slot after the gate is put into the slot.

[0008] Further, the arm of the rotating hoist of the hoist and gate machine is rotated to above the gate slot, enters a working state, the controllable rotating hoist below is hoisted with the gate through a hydraulic grabbing beam, the gate storage slot is parallel to the working gate slot, the controllable rotating hoist cylinder is synchronously driven when the rotating hoist is running, the sleeve is driven to move forward or backward by the cylinder, the push rod is driven to rotate the rotating hoist in the opposite direction of the rotating hoist, so that the gate does not rotate and is always flush with the gate slot, as shown in the accompanying Figure 4

[0009] Further, the hydraulic system supplies oil to the rodless cavity of the folding oil cylinder, the piston end is elongated, the folding arm is unfolded around the folding arm and the connecting hinge point of the rotating hoist arm, and is in a working state, at this time, the manipulator is still in a retracted state and does not interfere with the gate.

[0010] Further, the posture of the gate is detected by the visual camera installed on the folding arm, and then the signal is fed back to the manipulator, the relative position coordinates of the gate and the manipulator are automatically calculated by the internal program of the manipulator, the manipulator is unfolded by controlling the joints of the manipulator through the control system, and the manipulator reaches a working state, the clamp of the manipulator is automatically clamped to the gate under the drive of the servo motor, and the clamp stops working after the gate is clamped in place through the feedback signal of the pressure sensor to the servo motor.

[0011] Further, the clamp of the manipulator contacts the gate through a pulley, so that the gate can slide up and down; at this time, the gate is completely constrained in the horizontal direction, the folding manipulator installed on the side of the rotating hoist arm of the hoist and gate machine offsets the influence of wind on the gate and completely aligns the gate with the gate slot.

[0012] Further, the hoist and gate machine drives the controllable rotating hoist to lower the gate, the gate keeps stable in the horizontal direction and slides down along the pulley on the clamp, smoothly enters the gate slot, and completes the hoisting and transporting work of the gate.

[0013] Further, when the gate is put into the slot to a specified depth, the clamp is unfolded, the manipulator is retracted, the rod cavity of the rotating oil cylinder is supplied with oil, the folding arm is retracted, and the hoisting and transporting work of the next gate is entered.

[0014] ​The application has the advantages that:

[0015] The hoisting work of the gate can be realized without manual assistance for pushing and pulling the gate positioning, the problem of the angle between the rotary gate and the gate slot and the swing deviation of the gate caused by the wind force can be solved, and the gate can be smoothly hoisted 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 of the hoist of the hydropower station has positive significance.

[0016] The application does not change the original rotary hoist and closing equipment, and the use of the original equipment is not affected on the basis of the existing structure. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 Part of the structure of the controllable rotary hoist in the application is shown.

[0018] Figure 2 The structure of the precise positioning auxiliary adjustment device used in the application is shown.

[0019] Figures 3-7 The flowchart of the method is shown.

[0020] 1-controllable rotary hoist, 2-folding manipulator, 3-arm support, 4-driving electric cylinder, 5-sliding sleeve, 6-push rod, 7-bracket, 8-hydraulic grab beam, 9-folding arm, 10-folding cylinder, 12-clamp, 13-pulley, 14-gate, 15-gate slot, 16-rotary nut. DETAILED DESCRIPTION

[0021] The embodiments of the application will be described in detail below, and 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.

[0022] It should be pointed out that all the directional indications in the embodiments of the application (such as two sides, edges, up, down, left, right, front, back, middle, top end, bottom end, tail, axial direction, radial direction,...) are only used to explain the relative position relationship, motion state and the like between the components in a certain specific posture (as shown in the drawings), and when the specific posture changes, the directional indications also change accordingly.

[0023] Embodiment 1

[0024] A precise positioning auxiliary adjustment method for a rotary hoisted gate, comprising the following steps:

[0025] The arrangement type of the hoist of the hoist and closing machine hoisting the gate 14 is shown in the attached Figure 3The folding mechanical arm is retracted under the rotating arm support 3 of the hoist and does not affect the hoisting work of the hoist. The controllable rotating hoist keeps the gate 14 in line with the gate slot 15. When the hoist lowers the gate 14 and the gate 14 is deflected due to strong wind, the folding mechanical arm starts to work, adjusts the posture of the gate 14, and assists the hoist to complete the hoisting work of the gate 14 into the slot.

[0026] The working process is as follows: the arm support 3 of the rotating hoist of the hoist is rotated to above the gate slot 15, the controllable rotating hoist 1 below is hoisted with the gate 14, the controllable rotating hoist 1 is synchronously driven to keep the gate 14 in line with the gate slot 15, as shown in FIG. 2; Figure 4 The folding cylinder 10 is driven to expand the folding mechanical hand 2, the folding cylinder 10 drives the opening of the folding arm 9, the folding mechanical hand 2 is controlled to expand by its own control system, such as driving each mechanical arm joint by hydraulic control, pneumatic or motor, the folding mechanical hand 2 does not interfere with the gate 14 at this time, the relative positional relationship between the gate 14 and the grab beam and the folding mechanical hand 2 is detected by posture detection, the position information of the gate 14 and the grab beam is converted into coordinate parameters by a visual camera and input into the control system of the folding mechanical hand 2, the internal program of the folding mechanical hand 2 can automatically calculate the spatial coordinate relative relationship between the folding mechanical hand 2 and the gate 14 and the grab beam, then control the folding mechanical hand 2 to move to the working position, the folding mechanical hand 2 automatically clamps the gate 14, outputs the signal to the folding mechanical hand 2 through the posture detection, controls it to move to the position, the posture detection device can also re-detect the output signal after the folding mechanical hand 2 moves to the position, the internal program of the folding mechanical hand 2 re-calculates and checks the positional relationship to ensure the accurate clamping position. In addition, if the folding mechanical hand 2 is still clamped out of position, manual assistance can be used to judge, control the folding mechanical hand 2 to re-calculate the coordinate relationship, the clamp 12 of the folding mechanical hand 2 contacts the gate 14 through the pulley 13, so that the gate 14 can slide up and down, the force transmission mechanism of the clamp 12 is various, such as sliding groove lever type, connecting rod lever type, inclined plane lever type, gear and rack type, screw and nut spring type, etc., taking the sliding groove lever type as an example, the clamp plate of the clamp 12 moves linearly along the sliding groove, the pulley 13 cooperates with the pressure sensor, and when the pulley 13 contacts the gate 14, the feedback signal is fed back to the servo motor of the control drive, and the clamp 12 is clamped at this time. Figure 5 、 6 The gate 14 is completely constrained in the horizontal direction, the folding mechanical hand 2 installed on the side of the rotating arm support 3 of the hoist offsets the influence of wind on the gate 14 and completely aligns the gate 14 with the gate slot 15.

[0027] The hoist drives the controllable rotating hoist 1 to lower the gate 14, the gate 14 keeps stable in the horizontal direction and slides down along the pulley 13 on the clamp 12, smoothly enters the gate slot 15, and completes the hoisting work of the gate 14, as shown in FIG. 4. Figure 7 The hoist drives the controllable rotating hoist 1 to lower the gate 14, the gate 14 keeps stable in the horizontal direction and slides down along the pulley 13 on the clamp 12, smoothly enters the gate slot 15, and completes the hoisting work of the gate 14, as shown in FIG. 4.

[0028] After the gate 14 is put into the slot, the clamp 12 is unfolded, the folding mechanical arm 2 is retracted, the folding cylinder 10 drives the folding arm 9 to retract, and the next gate 14 is put into the slot.

[0029] Embodiment 2

[0030] A precise positioning auxiliary adjustment method for a rotary hoist gate, comprising the following steps:

[0031] The arrangement type of the hoist gate 14 of the hoist is shown in the attached Figure 3 Under normal working conditions, the folding mechanical arm is retracted under the rotary hoist arm frame 3 of the hoist, which does not affect the hoisting work of the hoist. The controllable rotary hoist keeps the gate 14 level with the gate slot 15. When the hoist lowers the gate 14 and encounters strong wind conditions, the folding mechanical arm starts to work, adjusts the posture of the gate 14, and assists the hoist to complete the hoisting work of the gate 14 into the slot.

[0032] The working process is as follows: the arm frame 3 of the rotary hoist is rotated to above the gate slot 15, the controllable rotary hoist 1 below is hoisted with the gate 14, the controllable rotary hoist 1 is synchronously driven to keep the gate 14 level with the gate slot 15, as shown in the attached Figure 4As shown; drive folding cylinder 10 unfolding folding manipulator 2, folding cylinder 10 drive folding arm 9 open, folding manipulator 2 by its own control drive system control its unfolding, such as through the hydraulic control, pneumatic or motor drive each mechanical arm joint, etc., folding manipulator 2 at this time does not interfere with the gate 14, through the posture detection detection gate 14 and the relative position relationship between the grab beam and folding manipulator 2, through the visual camera converts the position information of gate 14 and grab beam into coordinate parameters input to the control system of folding manipulator 2, the internal program of folding manipulator 2 can automatically calculate the spatial coordinate relative relationship between folding manipulator 2 and gate 14 and grab beam, and then control folding manipulator 2 to move to the working position, folding manipulator 2 automatically clamps the gate 14, through the posture detection output signal to folding manipulator 2, control its movement to the position, the posture detection device can also be rechecked after folding manipulator 2 moves to the position Output signal, folding manipulator 2 internal program recheck position relationship, to ensure the accuracy of its clamping position. In addition, if folding manipulator 2 still clamps mispositioning, manual auxiliary judgment can be used to control folding manipulator 2 to recalculate the coordinate relationship. The clamp 12 of folding manipulator 2 contacts the gate 14 through the pulley 13, so that the gate 14 can slide up and down. The force transmission mechanism of the clamp 12 is various, such as sliding groove lever type, connecting rod lever type, inclined plane lever type, gear and rack type, screw and nut spring type, etc. Taking the sliding groove lever type as an example, the clamp plate of the clamp 12 moves linearly along the sliding groove. The pulley 13 cooperates with the pressure sensor to feed back the signal to the servo motor of the control drive when the pulley 13 contacts the gate 14. At this time, the clamp 12 is clamped tightly. When the gate 14 enters the slot, the visual camera feeds back the signal, and the servo motor controls the clamp 12 to loosen. As shown in the accompanying drawings Figure 5 、 6 As shown; the gate 14 is completely constrained in the horizontal direction, and the folding manipulator 2 installed on the side of the rotary hoist frame 3 offsets the influence of the wind on the gate 14 to completely align the gate 14 with the gate slot 15.

[0033] The gate 14 is kept stable in the horizontal direction and slides down along the pulley 13 on the clamp 12, smoothly enters the gate slot 15, and completes the hoisting work of the gate 14, as shown in the accompanying drawings Figure 7

[0034] After the gate 14 enters the slot, the clamp 12 unfolds, the folding manipulator 2 retracts, and the folding cylinder 10 drives the folding arm 9 to retract, entering the next hoisting work of the gate 14.

[0035] ​Specifically, the arm frame 3 of the rotary crane of the hoist and door machine rotates above the gate slot 15 to enter the working state, the controllable rotary spreader 1 below is lifted by the hydraulic grab beam 8, the gate 14 is stored in the gate slot 15 parallel to the working gate slot 15, and the controllable rotary spreader 1 is driven synchronously during the rotation of the rotary crane. The electric cylinder of the controllable rotary spreader 1 drives the sliding sleeve 5 to move forward or backward, drives the push rod 6, rotates the controllable rotary spreader in the opposite direction of the rotary crane, keeps the gate 14 from rotating, and keeps the gate 14 always flush with the gate slot 15, as shown in the accompanying drawings. Figure 4

[0036] The hydraulic system fills the rodless cavity of the folding and retracting cylinder 10 with oil, the piston end is elongated, drives the folding and retracting arm 9 to unfold around the folding and retracting arm 9 and the connecting hinge point of the rotary crane arm frame 3, and is in the working state. At this time, the folding and retracting manipulator 2 is still in the retracted state and does not interfere with the gate 14.

[0037] The posture of the gate 14 is detected by the visual camera installed on the folding and retracting arm 9, and then the signal is fed back to the folding and retracting manipulator 2. The folding and retracting manipulator 2 automatically calculates the relative position coordinates of the gate 14 and the folding and retracting manipulator 2 through the internal program, controls the folding and retracting manipulator 2 through the control system, and makes the folding and retracting manipulator 2 unfold to the working state. The gripper 12 of the folding and retracting manipulator 2 is automatically clamped under the drive of the servo motor, and after clamping in place, the servo motor feeds back the signal through the pressure sensor. The gripper 12 stops working.

[0038] The gripper 12 of the folding and retracting manipulator 2 contacts the gate 14 through the pulley 13, so that the gate 14 can slide up and down as shown in the accompanying drawings. Figure 5 6 At this time, the gate 14 is completely constrained in the horizontal direction, and the folding and retracting manipulator 2 installed on the side of the rotary crane arm frame 3 offsets the influence of the wind on the gate 14 to completely align the gate 14 with the gate slot 15.

[0039] The hoist and door machine drives the controllable rotary spreader 1 to lower the gate 14, the gate 14 keeps stable in the horizontal direction and slides down along the pulley 13 on the gripper 12, smoothly enters the gate slot 15, and completes the hoisting and transporting work of the gate 14, as shown in the accompanying drawings. Figure 7

[0040] When the gate 14 enters the slot to the specified depth, the gripper 12 unfolds, the folding and retracting manipulator 2 retracts, the rod cavity of the rotary cylinder is filled with oil, the folding and retracting arm 9 is driven to retract, and the next hoisting and transporting work of the gate 14 is entered.

[0041] The controllable rotary spreader 1, in addition to the newly added drive cylinder 4, sliding sleeve 5, push rod 6 and bracket 7 on the spreader to control the rotation of the hydraulic grab beam 8, can also control the rotation angle of the hydraulic grab beam 8 by setting waterproof turbines at both ends of the hydraulic grab beam 8, and resist the influence of the wind on the hydraulic grab beam 8.

[0042] ​​​The hoisting work of the gate 14 can be realized without manual assistance for pushing and pulling the gate 14 to position, the angle problem of the rotary gate 14 and the door slot 15 can be solved, and the swing deviation of the gate 14 caused by the wind force can be offset, so that the gate 14 can be smoothly hoisted into the door slot 15. The safety hidden danger of the hoisting work of the gate 14 is eliminated, the hoisting efficiency of the gate 14 into the slot is improved, and the efficient and safe hoisting work of the gate 14 of the hydroelectric station hoist is of positive significance. The application does not change the original rotary hoist and open-close equipment, and the use of the original equipment is not affected based on the existing structure.

[0043] The setting for realizing the method can be a rotary hoist gate 14 precise positioning auxiliary device, which comprises a controllable rotary hoist 1 and a folding manipulator 2. The controllable rotary hoist 1 is installed at the end of an arm support 3, and the folding manipulator 2 is installed on the side of the arm support 3. The controllable rotary hoist is used to adjust the rotary angle change of the rotary hoist, and the folding manipulator 2 provides wind stability and torque. The controllable rotary hoist comprises a driving cylinder 4, a sliding sleeve 5, a push rod 6, a support 7 and a hydraulic grab beam 8. The driving cylinder 4 is installed on the support 7, and the driving cylinder 4 is connected with the sliding sleeve 5. The push rod 6 is arranged in the sliding sleeve 5, and the push rod 6 is connected with a rotary nut 16. The rotary nut 16 is connected with the hydraulic grab beam 8 below, and drives the hydraulic grab beam 8 to rotate with it. The detailed structure is shown in the accompanying drawings. Figure 1 The folding manipulator 2 comprises a folding arm 9, a folding cylinder 10 and the folding manipulator 2. The folding arm 9 is hinged with the arm support 3, and the folding cylinder 10 is further arranged between the folding arm 9 and the arm support 3. The end of the folding arm 9 is provided with the folding manipulator 2. The detailed structure is shown in the accompanying drawings. Figure 2

[0044] Further, the end of the folding manipulator 2 is provided with a clamp 12, and the clamp 12 is provided with a pulley 13.

[0045] The folding manipulator 2 comprises an execution mechanism, a driving system, a control system and a position detection device. The execution mechanism comprises a hand (the clamp 12), a wrist, an arm and a stand column and the like. The arm of the industrial folding manipulator 2 is usually cooperated with a driving source (such as a hydraulic pressure, a gas pressure and a motor and the like) by a component (such as a cylinder, a gas cylinder, a gear and rack mechanism, a connecting rod mechanism, a screw mechanism and a cam mechanism and the like) to drive the arm movement, so as to realize various movements of the arm. The specific structure and action principle of the folding manipulator 2 are known to those skilled in the art, and will not be described here.

[0046] ​The folding manipulator 2 is a six-degree-of-freedom folding manipulator 2. The six-degree-of-freedom folding manipulator 2 can reach any position in the working range through cooperation of each joint. Meanwhile, the wrist of the folding manipulator 2 is a rotary structure driven by a rotary cylinder to realize free rotation of the folding manipulator 2.

[0047] A lifting tool body is arranged below the hydraulic grab beam 8. One end of a folding cylinder 10 is fixedly installed on the arm support 3, and an output end of the folding cylinder 10 is connected to the middle part of the folding arm 9. The folding cylinder 10 is controlled by a hydraulic system to control oil inlet and oil return. The clamp 12 is [shaped, including a sliding rail plate, two clamping plates and a driving motor. At least one pulley 13 is arranged on each clamping plate. The driving motor drives the sliding plate to move on the sliding rail plate, and the pulley 13 directly contacts the gate 14.

Claims

1. A method of precise positioning of a swing gate, characterized in that: It comprises the following steps: The arm frame (3) of the rotary crane of the opening and closing machine rotates above the gate slot (15), the controllable rotary lifting device (1) below has the gate (14) hoisted, the controllable rotary lifting device (1) is synchronously driven to keep the gate (14) flush with the gate slot (15), the folding and retracting oil cylinder (10) is driven to unfold the folding and retracting manipulator (2), the folding and retracting manipulator (2) does not interfere with the gate (14) at this time, the folding and retracting manipulator (2) automatically clamps the gate (14), the clamp (12) of the folding and retracting manipulator (2) contacts the gate (14) through the pulley (13), so that the gate (14) can slide up and down, when the gate (14) enters the slot, the servo motor controls the clamp (12) to loosen, the gate (14) is completely aligned with the gate slot (15); the opening and closing machine drives the controllable rotary lifting device (1) to lower the gate (14), the gate (14) keeps stable in the horizontal direction and slides down along the pulley (13) on the clamp (12), smoothly enters the gate slot (15), and completes the hoisting work of the gate (14); after the gate (14) enters the slot, the clamp (12) is unfolded, the folding and retracting manipulator (2) is retracted, the folding and retracting oil cylinder (10) drives the folding and retracting arm (9) to retract, and the hoisting work of the next gate (14) is entered; The posture of the gate (14) is detected by the visual camera installed on the folding and retracting arm (9), and then the signal is fed back to the folding and retracting manipulator (2). The folding and retracting manipulator (2) automatically calculates the relative position coordinates of the gate (14) and the folding and retracting manipulator (2) through the internal program, controls the folding and retracting manipulator (2) through the control system, unfolds the folding and retracting manipulator (2), reaches the working state, and the clamp (12) of the folding and retracting manipulator (2) is automatically clamped under the drive of the servo motor. After clamping in place, the feedback signal is fed back to the servo motor through the pressure sensor, and the clamp (12) stops working.

2. The method of claim 1, wherein: The arm frame (3) of the rotary crane of the opening and closing machine rotates above the gate slot (15), enters the working state, the controllable rotary lifting device (1) below hoists the gate (14) through the hydraulic grabbing beam (8), the gate (14) is parallel to the storage gate slot (15) and the working gate slot (15), when the rotary crane operates, the controllable rotary lifting device (1) is synchronously driven, the electric cylinder drives the sliding sleeve (5) to move forward or backward, drives the push rod (6), makes the rotary lifting device rotate in the opposite direction of the rotary crane, keeps the gate (14) from rotating, and always keeps flush with the gate slot (15).

3. The method of claim 2, wherein: The hydraulic system supplies oil to the rodless cavity of the folding and retracting oil cylinder (10), the piston end is elongated, drives the folding and retracting arm (9) to unfold around the folding and retracting arm (9) and the connecting hinge point of the rotary crane arm frame (3), and is in the working state. At this time, the folding and retracting manipulator (2) is still in the retracted state and does not interfere with the gate (14).

4. The method of claim 1, wherein: The clamp (12) of the folding and retracting manipulator (2) contacts the gate (14) through the pulley (13), so that the gate (14) can slide up and down; at this time, the gate (14) is completely constrained in the horizontal direction, the folding and retracting manipulator (2) installed on the side of the rotary crane arm frame (3) of the opening and closing machine offsets the influence of the wind on the gate (14) and completely aligns the gate (14) with the gate slot (15).

5. The method of claim 4, wherein: The opening and closing machine drives the controllable rotary hoist (1) to lower the gate (14), the gate (14) keeps stable in horizontal direction and slides along the pulley (13) on the clamp (12), smoothly enters the gate slot (15), and completes the hoisting work of the gate (14).

6. The method of claim 5, wherein: When the gate (14) reaches the specified depth in the slot, the clamp (12) is unfolded, the folding manipulator (2) is retracted, the rod cavity of the rotary oil cylinder is filled with oil, the folding arm (9) is driven to retract, and the next gate (14) is hoisted.

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