Device and method for underwater automatic detection and dredging of gate slots for ship lift maintenance

Abstract

The present invention provides an underwater automatic detection and dredging device and method for the gate slot of a ship lift inspection gate, which includes a beam grab body, a walking track is arranged at the bottom end of the beam grab body, a hoist pulley block for lifting the beam grab body is symmetrically arranged at the top of the beam grab body, and guide pulley devices for guiding the gate slot are symmetrically installed at the top of both ends of the beam grab body; an automatic detection and dredging device for dredging is installed on the walking track; a hydraulic pump station for providing hydraulic power is arranged at the top of the beam grab body; and a gas storage tank for providing high-pressure gas is arranged on the side of the hydraulic pump station. This device can simultaneously realize the bridge hoist and gate operation and the underwater detection and dredging function of the gate slot, is quick and convenient to use, can be recycled, meets special use needs, can solve the difficulties faced, and has outstanding characteristics such as economy, quality and efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of navigation buildings, and in particular relates to an underwater automatic detection and dredging device and method for a gate slot of a ship lift inspection gate. Background Art

[0002] On the upstream side of the navigation channel of the upper lock of the Three Gorges Ship Lift, there are one set of maintenance gates and two sets of gate slot devices. The maintenance gate is a sinking flat gate, with the maximum single-section gate size of length * width * height = 29.8m * 3.5m * 17m, a single weight of about 300t, and is operated by a 2 * 1500KN bridge hoist through an automatic beam-grabbing gate; the gate slot length * width * height = 29.8m * 3.5m * 40m, and the gate slot bottom plate elevation is consistent with the channel bottom plate elevation. The upper and lower lock channels of the Three Gorges Ship Lift belong to calm water channels. Affected by the high sand content of the upstream reservoir area, the silt accumulation on the channel bottom plate is high and cannot be self-drained. At the same time, the hull of the ship passing through the lock often rubs against the lateral steel corner guard of the gate slot guide rail, resulting in the protective tires, rubber guards and their fixed wire ropes, steel bolts, etc. placed on the side of the ship often being damaged and falling and accumulating in the gate slot area, seriously affecting the accurate positioning of the gate.

[0003] The navigation structures of the Three Gorges Shiplift are generally shut down for centralized maintenance once a year. At the same time, during the flood season and water storage period of the reservoir area each year, the gates are lowered for maintenance according to water level changes. At present, the gates of the Three Gorges Ship Lift, the Three Gorges Ship Lock and the Gezhouba Ship Lock are all operated by bridge-type hoists through automatic beam-grabbing gates. Before each gate is lowered, a short-term stop of half a day is adopted, and a medium-sized high-definition underwater robot is used to conduct underwater inspection of the gate slot; then a seaworthy ship is used to carry divers to carry out underwater dredging operations. During dredging, the divers first complete the underwater cleaning of larger debris (wire ropes, miscellaneous wood, steel bolts, steel wires, etc.) in the gate slot. Generally, 4 divers take turns to go into the water for 4 hours to complete this process; then the divers use high-power flushing guns underwater to flush the silt in the gate slot to loosen and flush out the accumulated silt. This process generally takes 4-6 hours; finally, a 50t truck crane is used to hang a high-power dredging pump into the water, and the divers move the dredging pump to clean the silt in the gate slot. The time taken for this process is determined by the amount of accumulated silt. At present, it generally takes 2 days on site, and the overall dredging operation time is generally about 3-3.5 days. After the dredging is completed, the divers will confirm underwater that the debris cleaning effect meets the gate lowering requirements, and then the gate lowering operation can be carried out and the dredging operation will begin.

[0004] In the face of the need for emergency water sealing, the construction site adopted the ship-borne divers to go directly into the water to investigate and deal with large debris, and the divers used a high-power flushing gun underwater to flush the silt in the contact area between the gate and the bottom sill in the gate slot. However, due to the time-consuming emergency contact and positioning of the manned ship and the divers, it actually took about 6 hours to achieve the door in place, which had a great impact on the on-site emergency water sealing work. Especially in the emergency water sealing conditions of important navigation construction projects such as the Three Gorges Ship Lift, the Three Gorges Ship Lock, and the Gezhouba Ship Lock, the impact will be further amplified.

[0005] At present, the conventional methods for underwater gate slot inspection and dredging for general maintenance of gates have the characteristics of complex procedures, long construction period, high cost, high safety risks in underwater operations, and inability to meet the needs of emergency water sealing conditions. It is necessary to innovate and develop suitable alternative new technologies. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides an underwater automatic detection and dredging device and method for the gate slot of a ship lift maintenance gate. This device can simultaneously realize the bridge-type hoist and door operation and the underwater detection and dredging functions of the gate slot. It is quick and convenient to use, can be recycled, can meet special usage needs, can solve the difficulties faced, and has outstanding characteristics such as economy, quality and efficiency.

[0007] In order to realize the above technical features, the object of the present invention is achieved as follows: an underwater automatic detection and dredging device for a gate slot of a ship lift for maintenance, comprising a grab beam body, a walking track is arranged at the bottom end of the grab beam body, a hoist pulley block for lifting the grab beam body is symmetrically arranged at the top of the grab beam body, and guide pulley devices for guiding the gate slot are symmetrically installed at the tops of both ends of the grab beam body; an automatic detection and dredging device for dredging is installed on the walking track;

[0008] A hydraulic pump station for providing hydraulic power is arranged on the top of the grab beam body; a gas storage tank for providing high-pressure gas is arranged on the side of the hydraulic pump station.

[0009] The bottom end of the grab beam body is symmetrically provided with a hydraulic pinning device;

[0010] A positioning pin is arranged at the bottom end of the beam grabbing body and on the side of the hydraulic pin penetration device.

[0011] The guide pulley device includes columns fixed on both sides of the top end of the grab beam body, and a first cantilever beam and a second cantilever beam are fixed on the outer walls of both sides of the columns. The end of the first cantilever beam is equipped with a transverse guide wheel for contacting and guiding the outer side wall of the door slot; the end of the second cantilever beam is equipped with a longitudinal guide wheel for contacting and guiding the inner side wall of the door slot; a connecting beam is installed between the first cantilever beam and the second cantilever beam.

[0012] A cable fixing device and a cable plug assembly device are fixed to the top end of the grab beam body;

[0013] Counterweight devices are arranged on the outer side walls at both ends of the grab beam body.

[0014] The automatic detection and dredging device includes a frame, which is rollingly supported on a walking track through a walking mechanism, and the walking mechanism is connected to a motor transmission system for driving the frame to move, and the motor transmission system is fixed on the outside of the frame; a bucket is installed at the bottom end of the frame through a hydraulic cylinder, and multiple groups of high-pressure jet nozzles for high-pressure flushing are installed inside the bucket, and an underwater sensing camera for video monitoring of the underwater door slot is installed inside the bucket.

[0015] The hydraulic cylinder is connected to the hydraulic pump station, and the high-pressure air nozzle adopts a conical stainless steel high-pressure nozzle. Each high-pressure air nozzle is connected to the air storage tank through a branch high-pressure air pipe on the upper part of the bucket, and the branch high-pressure air pipe is wound on the automatic pipe reel frame outside the air storage tank;

[0016] The top of the gas storage tank is connected to the air compressor arranged in the hoist room through the main high-pressure gas pipe. The main high-pressure gas pipe is wound on the integrated automatic reel frame in the same way as the power supply cable.

[0017] The power of the air compressor is determined according to the maximum water depth condition and takes a high power value to ensure the underwater flushing effect.

[0018] Anti-collision limit devices for controlling the travel of the frame are symmetrically installed on both sides of the frame;

[0019] The underwater sensing camera adopts a 360° high-definition underwater sensing camera, and meets the functions of high-definition video recording in turbid water and infrared distance sensing. It can simultaneously realize high-definition observation and distance sensing of underwater working conditions, ensuring high-definition observation and sensing of underwater operations even under turbid water conditions.

[0020] The overall size of the bucket can cover the door slot areas on both sides. The whole bucket is made of stainless steel and hard rubber materials. The overall frame is composed of stainless steel angle irons and steel pipes and has sufficient strength. A row of sharp barbed spikes and magnetic blocks are arranged at both ends. The barbed spikes are sharp and have claw functions, and multiple groups of magnetic blocks are arranged along the direction of water flow. The bottom and both sides of the bucket are made of wear-resistant hard rubber plates, and the wear-resistant hard rubber plates are evenly distributed with drainage holes. The sand and gravel impurities left through the drainage holes can meet the drainage and silt discharge needs.

[0021] The dredging method using the underwater automatic detection and dredging device for the gate slot of the ship lift for repairing the gate:

[0022] Under normal conditions, the underwater automatic detection and dredging device replaces the automatic beam grabbing device commonly used in the existing hydraulic gate hoist, and is always connected to the gate hoist through the gate hoist pulley block;

[0023] The underwater automatic detection and dredging device completes the door-dropping operation of the waterway maintenance gate through the following operation steps:

[0024] Step 1: The operator of the gate hoist drives the gate hoist to the top of the gate working slot, and lowers the underwater automatic detection and desilting device as a whole to the gate slot. After the auxiliary personnel at the gate slot meet the lowering requirements according to the contact between the guide pulley device and the gate slot, they should ensure that there is no obstacle in the gate slot area during observation, and continue the slot entry operation;

[0025] Step 2: After the underwater automatic detection and dredging device enters the water, it is lowered to a certain depth close to the bottom of the water. The operator of the hoisting and shutting machine room checks the underwater video and distance monitoring alarm signals provided by the underwater sensing camera on the display screen on the machine room operation cabinet to confirm that the underwater automatic detection and dredging device has been completely put into place in the water;

[0026] Step 3: The operator in the hoisting and closing room controls the extension and retraction of the hydraulic cylinder through the hydraulic pump station, so that the bucket makes initial contact with the bottom of the channel gate slot. During the process of the hydraulic cylinder extending to press the bucket down into position, the initial positioning of the bucket is mainly judged by the distance alarm set for the sensing distance of the underwater sensing camera;

[0027] Step 4: After the bucket is in initial contact with the bottom of the channel gate slot, the operator of the hoisting and shutting room starts the air compressor arranged in the room, and uses the high-pressure jet nozzle to flush the silt in the contact area between the bucket and the bottom of the channel gate slot, and then repeats step 3, and uses the underwater distance monitoring alarm signal provided by the underwater sensing camera to achieve close contact between the bucket and the bottom of the channel gate slot;

[0028] Step 5: The operator of the hoisting and shutting room starts the motor transmission system, and the traveling mechanism moves back and forth in the door slot along the driving track in the direction perpendicular to the water flow. During the movement, the high-pressure jet nozzle always keeps the working state;

[0029] Step 6: The operator of the gate hoist room checks the underwater distance monitoring alarm signal provided by the underwater sensing camera on the display screen on the operating cabinet in the machine room to determine that the underwater dredging of the door slot area is completed, then turns off the air compressor in the machine room, starts the gate hoist, and lifts the underwater connecting door and the underwater automatic detection and dredging device out of the door slot;

[0030] Step 7: After the underwater connecting door and the underwater automatic detection and desilting device are lifted out of the door slot, they are placed on the maintenance platform, and the auxiliary workers complete the cleaning of the silt in the bucket;

[0031] Step 8: The operator in the hoisting and shutting room controls the hydraulic cylinder to fully retract through the hydraulic pump station;

[0032] Step 9: The operator in the gate hoist room drives the gate hoist to move the connecting door and the dredging device to the upper part of the gate to be lowered for maintenance, and slowly lowers them, positioning the latch and the hydraulic pinning device, and completing the underwater automatic detection of the connecting door of the dredging device;

[0033] Step 10, according to the gate lowering operation procedures of the gate hoist, complete the gate lowering and water sealing operation of the maintenance gate.

[0034] In the step 2, the underwater positioning of the underwater automatic detection dredging device for the door and the gate slot includes: on the one hand, the overall positioning of the grab beam body is achieved by setting a distance alarm for the sensing distance of the underwater sensing camera, and controlling the distance between the end of the positioning pin at the lower part of the grab beam body and the bottom of the gate slot. The distance is mainly determined based on the classification, summary and analysis of underwater silt accumulation during multiple dredging processes; on the other hand, the positioning of the automatic detection dredging device is achieved. Before entering the water, the automatic detection dredging device is usually parked at the center of the grab beam body. The selection of this position is mainly based on the experience summary of multiple underwater dredging. The center of the grab beam body, that is, the center of the waterway, has the least silt accumulation and no large debris; in the specific positioning process, the underwater sensing camera is mainly used to determine that there is no large silt accumulation in the bucket area of ​​the automatic detection dredging device to avoid affecting the initial positioning of the bucket;

[0035] In step 5, the power selection of the motor transmission system needs to be determined based on the automatic detection of the deadweight of the dredging device, the estimated weight when the bucket is fully loaded, and the comprehensive consideration of the underwater running resistance; the external dimensions of the motor need to consider the overall dimensions of the beam body and the dimensional interference of the external accessory facilities within the travel range; the entire dredging movement is carried out in the following order: driving along one side to the end point → driving in the opposite direction to the end point on the other side → driving in the opposite direction to the end point on the other side → driving in the opposite direction to the initial position, and stopping is achieved by the anti-collision limit device.

[0036] The present invention has the following beneficial effects:

[0037] 1. The present invention discloses an underwater automatic detection and dredging device and method for the gate slot of a ship lift maintenance gate, which is mainly composed of an automatic door-connecting beam grabbing device, an underwater high-definition detection device, and an underwater automatic dredging device. Through a rigorous and reasonable operating process, the large-scale maintenance gate hoist and the gate slot are connected and automatically dredged underwater, which satisfies the maintenance gate to achieve a rapid door-dropping and water-sealing effect under various working conditions.

[0038] 2. The device and method for underwater automatic detection and dredging of the hoist and gate and gate slot of the large-scale maintenance gate of the ship lift channel provided by the present invention can simultaneously realize the operation of the bridge hoist and gate and the underwater detection and dredging of the gate slot, and has the outstanding characteristics of high technical content, quick and convenient use, recycling, meeting special use needs, solving the difficulties faced, and being economical, high-quality and efficient.

[0039] 3. The present invention is suitable for underwater inspection and dredging of gates and gate slots of various types of navigation structures and waterway maintenance gates, and can also provide useful reference for similar projects in other water conservancy engineering fields.

[0040] 4. When the present invention is used to quickly complete underwater gate slot dredging and high-efficiency and high-quality gate drop-in operation for large-scale maintenance gates: first, according to the gate's own structural weight and the corresponding working condition requirements of the gate hoist, the gate slot structural dimensions, and the underwater working condition characteristics of the gate slot, a set of automatic door connecting devices integrating "automatic door connection + automatic detection + automatic dredging function" is designed and manufactured. The device itself meets the requirements for connecting the gates between the gates and the bridge-type gate hoist, and is also equipped with a set of mobile automatic detection and dredging devices; the device detects underwater siltation conditions through an underwater high-definition sensing camera system; flushes and loosens silt through a high-power automatic flushing high-pressure system; and clears silt that affects the positioning of the gate through a dredging bucket device, so that the gate slot underwater detection and dredging operations can be completed remotely in the gate hoist room throughout the process. Through the above steps, the maintenance gate can be smoothly dropped into place and sealed under various working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0042] Figure 1 It is the overall structural front view of the present invention.

[0043] Figure 2 It is a top view of the overall structure of the present invention.

[0044] Figure 3 It is a side view of the overall structure of the present invention.

[0045] Figure 4 It is the front view of the automatic detection and dredging device of the present invention.

[0046] Figure 5 It is a side view of the automatic detection and dredging device of the present invention.

[0047] Figure 6 It is a bottom view of the automatic detection and dredging device of the present invention.

[0048] In the figure: the hoist pulley block 1, the guide pulley device 2, the cable fixing device 3, the cable plug assembly device 4, the beam grab body 5, the hydraulic pump station 6, the gas storage tank 7, the automatic detection and dredging device 8, the hydraulic pinning device 9, the positioning pin 10, the counterweight device 11, the driving track 12, and the door slot 13;

[0049] High-pressure jet nozzle 801, underwater sensing camera 802, bucket 803, hydraulic cylinder 804, frame 805, walking mechanism 806, motor transmission system 807, anti-collision limit device 808, magnetic suction block 809, barbed spikes 810. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are further described below in conjunction with the accompanying drawings.

[0051] See also Figure 1-6 , an underwater automatic detection and dredging device for the gate slot of the ship lift inspection gate, which includes a grab beam body 5, a walking track 12 is arranged at the bottom end of the grab beam body 5, a hoist pulley block 1 for lifting the grab beam body 5 is symmetrically arranged on the top of the grab beam body 5, and a guide pulley device 2 for guiding the gate slot 13 is symmetrically installed on the top of both ends of the grab beam body 5; an automatic detection and dredging device 8 for dredging is installed on the walking track 12; a hydraulic pump station 6 for providing hydraulic power is arranged on the top of the grab beam body 5; a gas storage tank 7 for providing high-pressure gas is arranged on the side of the hydraulic pump station 6. By adopting the above-mentioned device, it integrates the functions of automatic door connection + automatic detection + automatic dredging, and can simultaneously realize the bridge hoist door connection operation and the underwater detection and dredging function of the gate slot, and has the outstanding characteristics of high technical content, quick and convenient use, recyclable use, meeting special use needs, solving the difficulties faced, economical, high-quality and efficient. During the specific work, the device itself meets the requirements of the connecting door between the gate and the bridge-type gate hoist, and is also equipped with a set of mobile automatic detection and dredging devices; the device detects underwater siltation conditions through an underwater high-definition sensing camera system; flushes and loosens silt through a high-power automatic flushing high-pressure air gun system; and clears silt that affects the positioning of the gate through a dredging bucket device, allowing the gate slot to be remotely controlled in the gate hoist room throughout the process. Through the above steps, the maintenance gate can be quickly lowered into position and sealed under various working conditions.

[0052] Among them, according to the weight of the gate structure itself and the working conditions of the corresponding hoist, the structural dimensions of the gate slot, and the underwater working characteristics of the gate slot, when designing and manufacturing an automatic gate connecting and desilting device integrating "automatic gate connection + automatic detection + automatic dredging function", it is necessary to ensure that the steel structure strength and structural dimensions of the above-mentioned auxiliary devices can meet the operating requirements; before the entire device leaves the factory, the hydraulic system, electrical system, and mechanical system must be pre-assembled and tested to ensure that the overall performance of the system meets the design requirements.

[0053] Furthermore, a hydraulic pinning device 9 is symmetrically arranged at the bottom end of the gripping beam body 5. The hydraulic pinning device 9 can be used for automatic pinning operation when the gate is connected to the gate.

[0054] Furthermore, a positioning pin 10 is provided at the bottom of the grab beam body 5 and on the side of the hydraulic pinning device 9. The positioning pin 10 is used to position the grab beam body 5 during the door connection process, and on the other hand, to control the lowering height of the grab beam body 5 during the dredging and lowering process.

[0055] Furthermore, the guide pulley device 2 includes columns 206 fixed on both sides of the top of the grab beam body 5, and the first and second cantilever beams 201 and 205 are fixed on the outer walls of the two sides of the column 206. The end of the first cantilever beam 201 is equipped with a transverse guide wheel 203 for contacting and guiding the outer side wall of the door slot 13; the end of the second cantilever beam 205 is equipped with a longitudinal guide wheel 204 for contacting and guiding the inner side wall of the door slot 13; and a connecting beam 202 is installed between the first cantilever beam 201 and the second cantilever beam 205. The above-mentioned guide pulley device 2 can be used to guide the grab beam body 5 during the lowering process, thereby ensuring its stability during the lowering process and preventing it from overturning or blocking. It can also achieve transverse and longitudinal guidance at the same time.

[0056] Furthermore, a cable fixing device 3 and a cable plug assembly device 4 are fixed to the top of the gripping beam body 5. The above devices can realize normal power supply operation.

[0057] Furthermore, a counterweight device 11 is provided on the outer side walls at both ends of the grab beam body 5. The counterweight device 11 is used to ensure the stability of the grab beam body 5 during the lifting process.

[0058] Furthermore, the automatic detection and dredging device 8 includes a frame 805, which is supported on the walking track 12 by a walking mechanism 806, and the walking mechanism 806 is connected to a motor transmission system 807 for driving the walking, and the motor transmission system 807 is fixed on the outside of the frame 805; a bucket 803 is installed at the bottom of the frame 805 through a hydraulic cylinder 804, and multiple groups of high-pressure jet nozzles 801 for high-pressure flushing are installed inside the bucket 803, and an underwater sensing camera 802 for video monitoring of the underwater door slot is installed inside the bucket 803. The automatic detection and dredging device 8 can realize the automatic flushing and dredging operation of the door slot.

[0059] Furthermore, the hydraulic cylinder 804 is connected to the hydraulic pump station 6, and the high-pressure air nozzle 801 adopts a conical stainless steel high-pressure nozzle. Each high-pressure air nozzle 801 is connected to the air storage tank 7 through a branch high-pressure air pipe on the upper part of the bucket 803, and the branch high-pressure air pipe is wound on the automatic pipe reel frame outside the air storage tank;

[0060] Furthermore, the top of the gas storage tank 7 is connected to the air compressor arranged in the hoisting and shutting machine room through the main high-pressure gas pipe, and the main high-pressure gas pipe is wound on the integrated automatic reel frame in the same way as the power supply cable path. The above high-pressure gas circuit arrangement can realize automatic gas supply control during the dredging process.

[0061] Furthermore, the power of the air compressor is determined according to the maximum water depth condition and takes a high power value to ensure the underwater flushing effect.

[0062] Furthermore, anti-collision limit devices 808 for controlling its stroke are symmetrically installed on both sides of the frame 805; the rotation control of the stroke can be achieved through the above-mentioned anti-collision limit devices 808, thereby ensuring the reciprocating cycle operation of the automatic detection and dredging device 8 along the door groove during the dredging process.

[0063] Furthermore, the underwater sensing camera 802 uses a 360° high-definition underwater sensing camera, and meets the functions of high-definition video recording and infrared distance sensing in turbid water, and can simultaneously realize high-definition observation and distance sensing of underwater working conditions, ensuring that high-definition observation and sensing of underwater operations can be achieved even in turbid water conditions. The above-mentioned underwater sensing camera 802 facilitates the automatic judgment of dredging.

[0064] Furthermore, the overall size of the bucket 803 can cover the gate slot area on both sides. It is made of stainless steel and hard rubber materials. The overall frame is composed of stainless steel angle iron and steel pipe, which has sufficient strength. A row of sharp barbed spikes 810 and magnetic blocks 809 are arranged at both ends. The barbed spikes 810 have sharp and claw functions, and multiple groups of magnetic blocks 809 are arranged along the direction of water flow. The bottom and both sides of the bucket 803 are composed of wear-resistant hard rubber plates, and the wear-resistant hard rubber plates are evenly distributed with drainage holes. The sand and gravel impurities left through the drainage holes can meet the drainage and sludge discharge. The above-mentioned bucket 803 can be used to remove and clean the sludge at the gate slot position during the dredging process.

[0065] Preferably, three groups of magnetic blocks are arranged along the direction of water flow, which can meet the collection and cleaning of common underwater silt deposits: wood, iron, rubber, and wire ropes; the bottom and both sides are made of wear-resistant hard rubber plates with a thickness of 3mm and evenly distributed with drainage holes with a diameter of 5mm, which can meet the drainage and silt discharge. The sand and gravel and other impurities left through the 5mm drainage holes will not affect the deadweight of the gate weighing more than 50t.

[0066] Embodiment 2:

[0067] The dredging method using the underwater automatic detection and dredging device for the gate slot of the ship lift for repairing the gate:

[0068] Under normal conditions, the underwater automatic detection and dredging device replaces the automatic beam grabbing device commonly used in the existing hydraulic gate hoist, and is always connected to the gate hoist through the gate hoist pulley block 1;

[0069] The underwater automatic detection and dredging device completes the door-dropping operation of the waterway maintenance gate through the following operation steps:

[0070] Step 1: The operator of the gate hoist drives the gate hoist to the top of the gate working slot 13, and lowers the underwater automatic detection and desilting device as a whole to the gate slot. After the auxiliary personnel at the gate slot meet the lowering requirements according to the contact between the guide pulley device 2 and the gate slot 13, they should ensure that there is no obstacle in the gate slot area during observation, and continue the slot entry operation;

[0071] Step 2: After the underwater automatic detection and dredging device enters the water, it is lowered to a certain depth close to the bottom of the water. The operator of the hoisting and shutting room checks the underwater video and distance monitoring alarm signals provided by the underwater sensing camera 802 on the display screen on the operating cabinet of the room to confirm that the underwater automatic detection and dredging device has been completely put into the water;

[0072] Step 3: The operator of the hoisting and closing room controls the extension and retraction of the hydraulic cylinder 804 through the hydraulic pump station 6, so that the bucket 803 makes initial contact with the bottom of the channel gate slot. During the process of the hydraulic cylinder 804 extending to press the bucket down into position, the initial positioning of the bucket is mainly judged by the distance alarm set for the sensing distance of the underwater sensing camera 802;

[0073] Step 4, when the bucket 803 is in initial contact with the bottom of the channel gate slot, the operator of the hoisting and shutting room starts the air compressor arranged in the room, and uses the high-pressure jet nozzle 801 to flush the silt in the contact area between the bucket 803 and the bottom of the channel gate slot, and then repeats step 3, and uses the underwater distance monitoring alarm signal provided by the underwater sensing camera 802 to achieve close contact between the bucket 803 and the bottom of the channel gate slot;

[0074] Step 5: The operator of the hoisting and shutting room starts the motor transmission system 807, and the traveling mechanism 806 moves back and forth in the door slot along the driving track 12 in the direction perpendicular to the water flow. During the movement, the high-pressure air nozzle 801 always keeps the working state;

[0075] Step 6: The operator of the gate hoist room determines that the underwater dredging of the gate slot area is completed through the underwater distance monitoring alarm signal provided by the underwater sensing camera 802 on the display screen on the operating cabinet of the machine room, and then turns off the air compressor in the machine room and starts the gate hoist to lift the underwater connecting door and the underwater automatic detection and dredging device out of the gate slot; during the overall dredging process, pay attention to observing the image and distance alarm signal of the underwater sensing camera so as to promptly discover special situations under high-pressure silt flushing and turbid water conditions;

[0076] Step 7, after the underwater connecting door and the underwater automatic detection and desilting device are lifted out of the door slot, they are placed on the maintenance platform, and the auxiliary workers complete the cleaning of the silt accumulated in the bucket 803; under the emergency door-dropping and water-sealing working condition, when cleaning the debris in the bucket, only large debris needs to be cleaned, which reduces the operation time;

[0077] Step 8: The operator of the hoisting and closing room controls the hydraulic cylinder 804 to fully retract through the hydraulic pump station 6; before retracting, it is determined that the automatic detection and desilting device 8 is located in the middle of the beam as much as possible, so as not to affect the subsequent door operation;

[0078] Step 9, the operator in the gate hoist room drives the gate hoist, moves the connecting door and the dredging device to the upper part of the gate to be lowered for maintenance and slowly lowers it, locates the latch 10 and the hydraulic pinning device 9, and completes the underwater automatic detection of the connecting door of the dredging device; it is recommended to use equipment with induction positioning function for the positioning latch 10 and the hydraulic pinning device 9 to improve the efficiency of the pinning operation above and below the water.

[0079] Step 10, according to the gate opening and closing operation procedures of the gate hoist, complete the gate opening and closing operation. When the gate is opening and closing, the operator should pay attention to the height gauge stroke display to determine the gate opening and closing status.

[0080] Furthermore, in step 2, the underwater positioning of the underwater automatic detection dredging device for the door and the gate slot includes: on the one hand, the overall positioning of the grab beam body 5 is achieved by setting a distance alarm for the sensing distance of the underwater sensing camera 802, and controlling the distance between the end of the positioning pin 10 at the lower part of the grab beam body 5 and the bottom of the gate slot. The distance is mainly determined based on the classification, summary and analysis of underwater silt accumulation during multiple dredging processes; on the other hand, the positioning of the automatic detection dredging device 8 is achieved. Before entering the water, the automatic detection dredging device 8 is usually parked at the center of the grab beam body 5. The selection of this position is mainly based on the experience summary of multiple underwater dredging. The center of the grab beam body 5, i.e., the center of the waterway, has the least silt accumulation and no large debris. In the specific positioning process, the underwater sensing camera 802 is mainly used to determine that there is no large silt accumulation in the area of ​​the bucket 803 of the automatic detection dredging device 8, so as to avoid affecting the initial positioning of the bucket 803.

[0081] Furthermore, in step 5, the power selection of the motor transmission system 807 needs to be determined based on the automatic detection of the deadweight of the dredging device 8, the estimated weight when the bucket is fully loaded, and a comprehensive consideration of the underwater running resistance; the external dimensions of the motor need to consider the overall dimensions of the beam body and the dimensional interference of the external accessory facilities within the travel range; the entire dredging movement is carried out in the following order: travel along one side to the end point → travel in the opposite direction to the end point on the other side → travel in the opposite direction to the end point on the other side → travel in the opposite direction to the initial position, and stop is achieved through the anti-collision limit device 808.

Claims

1. Automatic underwater detection and dredging device for ship lift inspection gate slot, characterized by: It comprises a beam grabbing body (5), a walking track (12) is arranged at the bottom end of the beam grabbing body (5), a gate hoist pulley block (1) for lifting the beam grabbing body (5) is symmetrically arranged at the top of the beam grabbing body (5), and guide pulley devices (2) for guiding the door slot (13) are symmetrically installed at the top of both ends of the beam grabbing body (5); an automatic detection and dredging device (8) for dredging is installed on the walking track (12); A hydraulic pump station (6) for providing hydraulic power is arranged on the top of the grab beam body (5); a gas storage tank (7) for providing high-pressure gas is arranged on the side of the hydraulic pump station (6); The automatic detection and dredging device (8) comprises a frame (805), the frame (805) is supported on a walking track (12) by rolling through a walking mechanism (806), the walking mechanism (806) is connected to a motor transmission system (807) for driving the frame (805), and the motor transmission system (807) is fixed to the outside of the frame (805); a bucket (803) is installed at the bottom end of the frame (805) through a hydraulic cylinder (804), a plurality of high-pressure jet nozzles (801) for high-pressure flushing are installed inside the bucket (803), and an underwater sensing camera (802) for video monitoring of the underwater door slot is installed inside the bucket (803); The hydraulic oil cylinder (804) is connected to the hydraulic pump station (6); the high-pressure air nozzle (801) is a conical stainless steel high-pressure nozzle; each high-pressure air nozzle (801) is connected to the air storage tank (7) via a branch high-pressure air pipe on the upper part of the bucket (803); the branch high-pressure air pipe is wound around an automatic pipe reel frame on the outer side of the air storage tank; The top of the gas storage tank (7) is connected to an air compressor arranged in the hoisting and shutting machine room through a main high-pressure gas pipe, and the main high-pressure gas pipe is wound on an integrated automatic reel frame in the same way as the power supply cable path; The power of the air compressor is determined according to the maximum water depth condition and takes a high power value to ensure the underwater flushing effect.

2. According to claim 1, the underwater automatic detection and dredging device for the gate slot of the ship lift maintenance gate is characterized by: A hydraulic pinning device (9) is symmetrically arranged at the bottom end of the grab beam body (5); A positioning pin (10) is provided at the bottom end of the grab beam body (5) and on the side of the hydraulic pinning device (9).

3. The underwater automatic detection and dredging device for the gate slot of the ship lift maintenance gate according to claim 2 is characterized by: The guide pulley device (2) comprises columns (206) fixed on both sides of the top end of the gripping beam body (5); a first cantilever beam (201) and a second cantilever beam (205) are fixed on the outer walls of both sides of the columns (206); a transverse guide wheel (203) for contacting and guiding the outer side wall of the door slot (13) is installed at the end of the first cantilever beam (201); a longitudinal guide wheel (204) for contacting and guiding the inner side wall of the door slot (13) is installed at the end of the second cantilever beam (205); and a connecting beam (202) is installed between the first cantilever beam (201) and the second cantilever beam (205).

4. The underwater automatic detection and dredging device for the gate slot of a ship lift maintenance gate according to claim 3 is characterized by: A cable fixing device (3) and a cable plug assembly device (4) are fixed to the top end of the grab beam body (5); Counterweight devices (11) are provided on the outer side walls at both ends of the grab beam body (5).

5. According to claim 4, the underwater automatic detection and dredging device for the gate slot of the ship lift maintenance gate is characterized in that: Anti-collision limit devices (808) for controlling the travel of the frame (805) are symmetrically mounted on both sides of the frame (805); The underwater sensing camera (802) adopts a 360° high-definition underwater sensing camera and meets the functions of high-definition video recording in turbid water and infrared distance sensing. It can simultaneously realize high-definition observation and distance sensing of underwater working conditions, ensuring that high-definition observation and sensing of underwater operations can be achieved even under turbid water conditions.

6. The underwater automatic detection and dredging device for the gate slot of a ship lift maintenance gate according to claim 5 is characterized by: The bucket (803) has an overall size that can cover the door slot areas on both sides. The bucket (803) is made of stainless steel and hard rubber materials. The overall frame is composed of stainless steel angle iron and steel pipes and has sufficient strength. A row of sharp barbed spikes (810) and magnetic blocks (809) are arranged at both ends. The barbed spikes (810) have sharpness and claw functions. Multiple groups of magnetic blocks (809) are arranged along the water flow direction. The bottom and both sides of the bucket (803) are made of wear-resistant hard rubber plates. The wear-resistant hard rubber plates are evenly distributed with drainage holes. The sand and gravel impurities left through the drainage holes can meet the drainage and sludge discharge requirements.

7. A dredging method using the underwater automatic detection and dredging device for the gate slot of a ship lift maintenance gate as claimed in claim 6, characterized in that: Under normal conditions, the underwater automatic detection and dredging device replaces the automatic beam grabbing device commonly used in the existing hydraulic gate hoist, and is always connected to the gate hoist via the gate hoist pulley block (1); The underwater automatic detection and dredging device completes the door-dropping operation of the waterway maintenance gate through the following operation steps: Step 1: The operator of the gate hoist moves the gate hoist to the top of the gate working slot (13), and lowers the underwater automatic detection and desilting device as a whole to the gate slot. After the contact between the guide pulley device (2) and the gate slot (13) meets the lowering requirements, the auxiliary personnel at the gate slot should ensure that there is no obstacle in the gate slot area during observation, and then continue the slot entry operation; Step 2: After the underwater automatic detection and dredging device enters the water, it is lowered to a certain depth close to the bottom of the water. The operator of the hoisting and shutting machine room checks the underwater camera (802) and the distance monitoring alarm signal provided by the underwater sensing camera on the display screen on the machine room operation cabinet to confirm that the underwater automatic detection and dredging device has been completely put into place; Step 3, the operator of the hoisting and shutting room controls the extension and retraction of the hydraulic cylinder (804) through the hydraulic pump station (6), so that the bucket (803) is initially in contact with the bottom of the channel gate slot. During the process of the hydraulic cylinder (804) extending to press the bucket down into position, the initial positioning of the bucket is mainly judged by the distance alarm set for the sensing distance of the underwater sensing camera (802); Step 4, when the bucket (803) is initially in contact with the bottom of the channel gate slot, the operator of the hoisting and shutting room starts the air compressor arranged in the room, and uses the high-pressure jet nozzle (801) to flush the silt in the contact area between the bucket (803) and the bottom of the channel gate slot, and then repeats step 3, and uses the underwater distance monitoring alarm signal provided by the underwater sensing camera (802) to achieve close contact between the bucket (803) and the bottom of the channel gate slot; Step 5: The operator of the hoisting and shutting machine room starts the motor transmission system (807), and the traveling mechanism (806) moves back and forth in the door slot along the traveling track (12) in a direction perpendicular to the water flow. During the movement, the high-pressure jet nozzle (801) always remains in an operating state; Step 6: The operator of the gate hoist room checks the underwater distance monitoring alarm signal provided by the underwater sensing camera (802) on the display screen on the operating cabinet in the machine room to determine that the underwater dredging of the door slot area is completed, and then turns off the air compressor in the machine room and starts the gate hoist to lift the underwater connecting door and the underwater automatic detection and dredging device out of the door slot; Step 7, after the underwater connecting door and the underwater automatic detection and desilting device are lifted out of the door slot, they are placed on the maintenance platform, and the auxiliary operator completes the cleaning of the silt accumulated in the bucket (803); Step 8: The operator of the hoisting and shutting machine room controls the hydraulic cylinder (804) to fully retract through the hydraulic pump station (6); Step 9: The operator in the gate hoist room drives the gate hoist to move the connecting door and the dredging device to the upper part of the gate to be lowered for maintenance and slowly lowers them, positioning the latch (10) and the hydraulic pinning device (9), and completing the underwater automatic detection of the connecting door of the dredging device; Step 10, according to the gate lowering operation procedures of the gate hoist, complete the gate lowering and water sealing operation of the maintenance gate.

8. The dredging method of the underwater automatic detection and dredging device for the gate slot of the ship lift maintenance gate according to claim 7, characterized in that: In the step 2, the underwater positioning of the underwater automatic detection dredging device for the gate and the gate slot includes: on the one hand, the overall positioning of the grab beam body (5) is achieved by setting a distance alarm for the sensing distance of the underwater sensing camera (802), and controlling the distance between the end of the positioning pin (10) at the lower part of the grab beam body (5) and the bottom of the gate slot. The distance is mainly determined based on the classification, summary and analysis of underwater silt accumulation during multiple dredging processes; on the other hand, the positioning of the automatic detection dredging device (8). Before entering the water, the automatic detection dredging device (8) is usually parked at the center of the grab beam body (5). The selection of this position is mainly based on the experience summary of multiple underwater dredging. The center of the grab beam body (5), that is, the center area of ​​the channel, has the least silt accumulation and no large debris. In the specific positioning process, the underwater sensing camera (802) is mainly used to determine that there is no large silt accumulation in the area of ​​the bucket (803) of the automatic detection dredging device (8), so as to avoid affecting the initial positioning of the bucket (803); In step 5, the power of the motor transmission system (807) needs to be selected based on the weight of the automatic detection dredging device (8), the estimated weight when the bucket is fully loaded, and the underwater running resistance; the motor size needs to consider the overall size of the beam body and the size interference of the external accessory facilities within the travel range; the entire dredging movement is carried out in the following order: driving along one side to the end point → driving in the opposite direction to the end point on the other side → driving in the opposite direction to the end point on the other side → driving in the opposite direction to the initial position, and stopping is achieved through the anti-collision limit device (808).

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