Center-of-gravity adjustable hydraulic grab beam, hoist, and method of using the center-of-gravity adjustable hydraulic grab beam

Abstract

The present invention discloses a hydraulic grab beam with an adjustable center of gravity, a gate hoist, and a method for using the hydraulic grab beam. The hydraulic grab beam with an adjustable center of gravity comprises a grab beam body with a single lifting point disposed on its upper portion; a hydraulic pump station disposed on one side of the grab beam body; and a first balancing block disposed on the grab beam body for balancing the eccentric torque generated by the hydraulic pump station. Because the first balancing block, which is capable of balancing the eccentric torque generated by the hydraulic pump station, is disposed on the grab beam body, the present invention ensures that the grab beam body, with a single lifting point structure on its upper portion, can operate smoothly, thereby enabling a set of hydraulic grab beams to smoothly open and close gates and trash racks of different sizes.

Description

Technical Field

[0001] The present invention relates to the technical field of water conservancy projects, and in particular to a gravity-adjustable hydraulic grab beam, a hoist, and a method for using the gravity-adjustable hydraulic grab beam. Background Art

[0002] In water conservancy and hydropower projects, hydraulic metal structures such as trash racks, inspection gates, and service gates are generally installed at the water inlet.

[0003] However, due to the different functions and opening and closing methods of these hydraulic metal structures, as well as the different widths of the gate slots (or trash rack slots) and the distances from the lifting points of the objects to be lifted to the supporting slot surface, when using hydraulic grab beams to open and close these hydraulic metal structures, different hydraulic grab beams need to be configured to adapt to the different gate slots (or trash rack slots) and the center of gravity positions of the objects to be opened and closed. This not only causes the problem of high equipment cost due to the large number of hydraulic grab beams; it also creates safety hazards and inconvenience in use due to the frequent disconnection and connection of the power supply device of the hydraulic grab beam with different hydraulic grab beams. At the same time, problems such as water ingress and leakage often occur due to the poor sealing of the water-tight joints during the disconnection and connection conversion process.

[0004] In addition, for some gates (or trash racks) with smaller widths whose lifting points are set on the side beams, the corresponding winch-type gate hoist cannot be set with double lifting points to match them, and a hydraulic grab beam with a single upper lifting point and a double lower lifting point has to be set up for use. The upper single lifting point of the hydraulic grab beam matches the single-point gate hoist, and the lower double lifting points of the hydraulic grab beam match the double lifting points of the gate (or trash rack). If a group of hydraulic grab beams of this structure are to be able to open and close gates (or trash racks) of different sizes, the balancing method and the adjustment of the distance between the lifting point of the object to be lifted and the supporting trough surface in the direction of water flow are very critical, so as to avoid the problem of the hydraulic grab beam being unable to work stably due to the imbalance of the center of gravity caused by the setting of the upper single lifting point structure. Moreover, if Figure 1 and Figure 2 As shown, in most projects, the gate slot width B is larger than the trash rack slot width B'; the distance Y1 from the opening and closing center to the gate slot when opening and closing the gate is different from the distance Y1' between the opening and closing center of the trash rack and the center of the supporting slot surface to the trash rack slot. According to traditional practices, two sets of different hydraulic grab beams need to be set to meet the opening and closing of the gate and the trash rack respectively. That is, the aforementioned problems of high equipment cost due to the large number of hydraulic grab beams still exist, and safety hazards and inconvenience caused by frequent disconnection and connection of the power supply device of the hydraulic grab beam with different hydraulic grab beams are generated. In addition, water ingress and leakage are caused by the loose sealing of the water sealing joint during the disconnection and connection conversion process. Summary of the Invention

[0005] In order to solve the problem of high equipment cost caused by the different functions and opening and closing methods of multiple hydraulic metal structures (such as trash racks, inspection gates, working gates, etc.) set on the gate pier, as well as the different widths of the gate slots (or trash rack slots) and the distances from the lifting points of the objects to be lifted to the supporting slot surface, when using hydraulic grab beams to open and close these hydraulic metal structures, different hydraulic grab beams need to be configured to adapt to different gate slots (or trash rack slots) and the center of gravity positions of the objects to be opened and closed. Although the hydraulic grab beam with a single lifting point on the upper side and a double lifting point on the lower side can realize that one set of hydraulic grab beams can open and close gates (or Trash rack), however, its balancing method and the adjustment of the distance between the lifting point of the object to be lifted and the supporting trough surface in the direction of water flow are very critical, so as to avoid the problem that the center of gravity of the hydraulic grab beam is unbalanced due to the setting of the upper single lifting point structure, and the hydraulic grab beam cannot work smoothly; and the problem that the power supply device of the hydraulic grab beam is frequently disconnected and connected with different hydraulic grab beams, resulting in safety hazards and inconvenience in use; and at least one of the problems such as water ingress and leakage caused by the water sealing joint being not tightly sealed during the disconnection and connection conversion process. According to one aspect of the present invention, a hydraulic grab beam with adjustable center of gravity is provided.

[0006] The center of gravity adjustable hydraulic grab beam includes a grab beam body with a single lifting point on the upper part of the grab beam body; a hydraulic pump station arranged on one side of the grab beam body; and a first balancing block arranged on the grab beam body for balancing the eccentric torque generated by the hydraulic pump station.

[0007] Since the present invention provides a first balancing block on the grab beam body that can balance the eccentric torque generated by the hydraulic pump station, it is possible to ensure that the grab beam body with a single lifting point structure on the upper part can work smoothly, so as to meet the requirements that a group of hydraulic grab beams can smoothly open and close gates and trash racks of different sizes respectively.

[0008] In some embodiments, the center-of-gravity adjustable hydraulic grab beam further includes a fixed counterweight disposed on the grab beam body, the fixed counterweight being disposed on the grab beam body at a position corresponding to the single lifting point, thereby further balancing the eccentric torque generated by the hydraulic pump station.

[0009] Preferably, the first trim block is disposed inside the grab beam body. This avoids installation issues associated with the installation of the first trim block, such as the upper single hanging point, the lower hanging point, the positioning guide sleeve, the pinning device, and the supporting slider; and simultaneously ensures the compactness of the overall structure of the hydraulic grab beam.

[0010] In some embodiments, the center-of-gravity-adjustable hydraulic grab beam further includes at least two sets of guide seats disposed at the bottom of the grab beam body, and at least one set of positioning guide sleeves detachably mounted on the guide seats for engaging with guide pins on the object to be opened or closed. This allows gates (or trash racks) of different sizes to be opened or closed using a single set of hydraulic grab beams.

[0011] In some embodiments, at least two groups of guide seats are arranged along the width direction of the grab beam body. Thus, when a specific target object needs to be opened or closed, it is only necessary to install the positioning guide sleeve to the corresponding guide seat. Preferably, the hydraulic grab beam also includes a first movable unit provided on the grab beam body and a second balancing block provided on the first movable unit; the first movable unit is configured to be able to drive the second balancing block to move along the width direction of the grab beam body. Thus, the first movable unit can be used to drive the second balancing block to move, so as to balance the different torques generated by different targets on the single lifting point on the upper part of the hydraulic grab beam. Furthermore, the hydraulic grab beam also includes a first locking unit, and the first locking unit is configured to be able to lock the second balancing block relative to the first movable unit. Thus, the second balancing block that has been moved into position can be stably maintained in this position by the first locking unit.

[0012] In some embodiments, the hydraulic grab beam with adjustable center of gravity further includes at least one set of lifting point offset plates detachably mounted on the grab beam body, for aligning the upper single lifting point of the grab beam body with the lifting point of the target object to be opened and closed in the width direction of the grab beam body. Thus, the size of the upper single lifting point of the hydraulic grab beam and the lifting point of the target object can be kept consistent in the direction of water flow by adjusting the installation position of the lifting point offset plates. Preferably, the hydraulic grab beam with adjustable center of gravity further includes a support slider detachably mounted on the grab beam body; the lifting point offset plate mounted on the grab beam body can be detachably mounted between the support slider and the grab beam body. Thus, while ensuring that the support slider can rest against the trough wall of the corresponding trough body, the size of the upper single lifting point of the hydraulic grab beam and the lifting point of the target object can be kept consistent in the direction of water flow.

[0013] In some embodiments, the thickness T of the lifting point offset plate is set to half the difference in distance from the opening and closing centers of different objects to be opened and closed to the corresponding slots. Thus, when the same set of hydraulic grab beams is used to open and close different objects, the lifting point offset plates can be installed on different sides of the grab beam body to ensure that the single lifting point on the upper portion of the hydraulic grab beam and the lifting point of the object remain consistent in size in the direction of water flow. Preferably, the lifting point offset plate can be positioned based on the size of the slot corresponding to the object to be opened and closed, as well as the size of the slot's support surface and the lifting point of the object to be opened and closed across the corresponding slot width. This ensures that the single lifting point on the upper portion of the hydraulic grab beam and the lifting point of the object remain consistent in size in the direction of water flow.

[0014] According to another aspect of the present invention, a gate hoist is provided, comprising the aforementioned center-of-gravity-adjustable hydraulic grab beam. Because the hydraulic grab beam of the gate hoist of the present invention is provided with a first balancing block capable of balancing the eccentric torque generated by the hydraulic pump station, the grab beam, with a single lifting point structure on its upper portion, can operate stably, thereby enabling the gate hoist to stably open and close gates and trash racks of different sizes with only one set of hydraulic grab beams.

[0015] According to yet another aspect of the present invention, a method for using the aforementioned center-of-gravity-adjustable hydraulic grab beam is provided.

[0016] The method for using the center-of-gravity adjustable hydraulic grab beam comprises the following steps:

[0017] S21: Determine the position of the hydraulic pump station on the grab beam body;

[0018] S22: According to the eccentric torque generated by the hydraulic pump station on the grab beam body, a first balancing block is provided on the grab beam body, and the combined eccentric torque generated by the hydraulic pump station and the first balancing block on the grab beam body is ensured to be less than 300 N.mm.

[0019] S23: According to the comprehensive eccentric moment, a fixed counterweight is set on the grab beam body, and the comprehensive eccentric moment generated by the hydraulic pump station, the first balancing block and the fixed counterweight on the grab beam body is ensured to be zero.

[0020] Thus, the eccentric moment of the hydraulic grab beam can be preliminarily balanced by the first balancing block, and then the eccentric moment of the hydraulic grab beam can be completely balanced by fine-tuning the fixed counterweight block.

[0021] According to yet another aspect of the present invention, a method for using the aforementioned center-of-gravity-adjustable hydraulic grab beam is provided.

[0022] The method for using the center-of-gravity adjustable hydraulic grab beam comprises the following steps:

[0023] S201: According to the center of gravity position of the target object to be opened and closed, the position of the second balancing block along the width direction of the grab beam body is adjusted by the first movable unit, and when the single lifting point on the upper part of the hydraulic grab beam and the center of gravity of the target object to be opened and closed are on the same vertical line, the second balancing block is locked relative to the first movable unit by the first locking unit.

[0024] In this way, gates (or trash racks) of different sizes can be opened and closed respectively through a group of hydraulic grab beams; when a specific target object needs to be opened or closed, it is only necessary to install the positioning guide sleeve to the corresponding guide seat; moreover, the first moving unit can be used to drive the movement of the second balancing block to balance the different torques generated by different targets on the single lifting point on the upper part of the hydraulic grab beam, and the first locking unit can be used to ensure that the second balancing block that has been moved into place can be stably maintained in this position.

[0025] According to yet another aspect of the present invention, a method for using the aforementioned center-of-gravity-adjustable hydraulic grab beam is provided.

[0026] The method for using the center-of-gravity adjustable hydraulic grab beam comprises the following steps:

[0027] S2001: Determine the thickness of the lifting point offset plate according to the distance from the opening and closing center of the target object to be opened and closed to the corresponding slot;

[0028] S2002: Determine the placement position of the hanging point offset plate according to the size of the slot corresponding to the target object to be opened and closed and the size of the slot support surface and the hanging point of the target object to be opened and closed in the corresponding slot width.

[0029] Therefore, the size of the single lifting point on the upper part of the hydraulic grab beam and the lifting point of the target object in the direction of water flow can be ensured to be consistent by adjusting the installation position of the lifting point offset plate; moreover, when the same set of hydraulic grab beams is used to open and close different targets, the lifting point offset plates can be installed on different sides of the grab beam body to ensure that the size of the single lifting point on the upper part of the hydraulic grab beam and the lifting point of the target object in the direction of water flow are consistent. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of the hydraulic grab beam in the prior art cooperating with the gate slot when opening and closing the gate;

[0031] Figure 2 This is a schematic diagram of the structure of the hydraulic grab beam in the prior art cooperating with the trash rack groove when used to open and close the trash rack;

[0032] Figure 3 This is a structural diagram of a gravity-adjustable hydraulic grab beam according to one embodiment of the present invention;

[0033] Figure 4 This is a schematic structural diagram of a first trim block according to an embodiment of the present invention;

[0034] Figure 5 for Figure 3 A structural diagram of the hydraulic grab beam with adjustable center of gravity from another perspective;

[0035] Figure 6 for Figure 3 The structure diagram of the movable balancing block of the hydraulic grab beam with adjustable center of gravity is shown;

[0036] Figure 7 This is a schematic diagram of the structure of the center-of-gravity-adjustable hydraulic grab beam of the present invention when used for opening and closing a gate;

[0037] Figure 8 This is a schematic structural diagram of the center-of-gravity-adjustable hydraulic grab beam of the present invention when used for opening and closing the trash rack;

[0038] Figure 9 Schematic diagram of the structure of a gate hoist according to one embodiment of the present invention;

[0039] Figure 10 for Figure 9 A structural schematic diagram of the centralized door storage of the hoist shown in the expanded state;

[0040] Figure 11 for Figure 10 A schematic structural diagram of the centralized door library from another perspective is shown;

[0041] Figure 12 for Figure 10 A structural diagram of the centralized door library in a folded state is shown;

[0042] Figure 13 for Figure 9 A schematic structural diagram of the first motion unit of the hoist and the hoisting device shown;

[0043] Figure 14 for Figure 13 The enlarged structural diagram of the first motion unit of the hoist and the hoisting device at A is shown;

[0044] Figure 15 This is a schematic structural diagram of an opening and closing device according to one embodiment of the present invention;

[0045] Figure 16 This is a schematic diagram of the process structure of a method for using a gravity-adjustable hydraulic grab beam according to one embodiment of the present invention;

[0046] Figure 17 This is a schematic diagram of the process structure of a method for using a gravity-adjustable hydraulic grab beam according to another embodiment of the present invention;

[0047] Figure 18 This is a schematic diagram of the process structure of a method for using a gravity-adjustable hydraulic grab beam according to another embodiment of the present invention;

[0048] Figure 19 This is a schematic diagram of the module structure of a control system for a gate hoist according to one embodiment of the present invention;

[0049] Figure 20 This is a schematic diagram of the flow structure of a control method for a gate hoist control system according to one embodiment of the present invention;

[0050] Figure 21 This is a schematic diagram of the flow structure of a control method for a gate hoist control system according to another embodiment of the present invention;

[0051] Figure numerals: 10, gate pier; 100, gate slot; 200, trash rack slot; 1, first moving unit; 11, walking rail; 12, walking mechanism; 121, first rotating motor; 122, walking wheel; 13, frame; 2, opening and closing equipment; 2A, hydraulic grab beam; 20, grab beam body; 21, single lifting point; 22, hydraulic pump station; 23, first balancing block; 24, fixed counterweight; 25, guide seat; 251, first guide seat; 252, second guide seat; 26, lower lifting point; 2000, lifting unit; 31, positioning guide sleeve; 32, first moving unit; 321, first slide bar; 33, second balancing block; 34, first locking unit; 341, first screw; 342, first nut; 35, lifting point offset plate; 36, Support slider; 37. Pinning device; A1. Center of lifting point; B1. Center of gravity of hydraulic pump station; 40. Centralized gate; 41. Gate body; 410. Gate slot; 411. Bottom bracket; 412. Side bracket; 4121. Guide rod; 41211. Guide section; 4122. Support rod; 4123. Second pivot axis; 413. First pivot axis; 42. Locking structure; 421. Diagonal support rod; 422. Third pivot axis; 423. Fourth pivot axis; 50. Stop beam gate; 51. Sub-gate; 511. Pinning hole; 512. Water-stop device; 61. Control module; 62. First positioning device; 63. First detection device; 64. Second positioning device; 65. Second detection device; 66. Height detection device; 67. Water level detection device. DETAILED DESCRIPTION

[0052] It should be noted that, unless there is any conflict, the embodiments and features in the embodiments of this application can be combined with each other.

[0053] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "include" and "comprise" include not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such processes, methods, articles or equipment. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or equipment that includes the elements. The terms used in this article are generally terms commonly used by those skilled in the art. If they are inconsistent with commonly used terms, the terms in this article shall prevail.

[0054] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0055] Figures 3 to 8 A hydraulic grab beam with adjustable center of gravity according to an embodiment of the present invention is schematically shown.

[0056] like Figure 3 As shown, the center of gravity adjustable hydraulic grab beam includes a grab beam body 20, a hydraulic pump station 22 and a first balancing block 23; wherein, a single lifting point 21 is fixedly provided on the upper part of the grab beam body 20 (this is because the gate slot 100 (or the trash rack slot 200) is smaller in the direction perpendicular to the water flow (perpendicular to the water flow direction, i.e., the length direction of the hydraulic grab beam (grab beam body 20)). If a double-hanging-point winch hoist is provided, the hoisting mechanism cannot avoid the wire rope from colliding with the gate during operation). The gate slot 100 (or trash rack slot 200) interferes with the gate slot 100 (or trash rack slot 200). Therefore, the inventors have come up with the idea of ​​setting up a hydraulic grab beam with a single upper lifting point 21 and a double lower lifting point for use with the gate hoist. The grab beam body 20 is provided with a single lifting point 21 on the upper part, which is adapted to the movable pulley block of the winch-type gate hoist, and a double lifting point on the lower part, which is adapted to the lifting points of the gate or trash rack. A hydraulic pinning device 37 is installed on the grab beam body 20, which pushes the shaft through or off the pin by hydraulic pressure. Generally, the single upper lifting point 21 is along the The grab beam body 20 is located at the center of gravity of the grab beam body in both the length direction y and the width direction x; the hydraulic pump station 22 is used to provide power to the pin-through device on the hydraulic grab beam, such as the hydraulic pin-through device 37, which is used to detachably connect the lower hanging point 26 set on the grab beam body 20 with the upper hanging point of the target object to be opened and closed. The connection method can adopt the connection method commonly used in the prior art, and the hydraulic pump station 22 can adopt the hydraulic pump station 22 commonly used in the prior art. The present invention does not provide a specific description of this. Limitation: Since the length of a general grab beam body 20 is much greater than its width, on a grab beam body 20 provided with a single upper lifting point 21, the hydraulic pump station 22 is generally provided on one side of the upper part of the grab beam body 20 along the length direction of the grab beam body 20; the first balancing block 23 is provided on the grab beam body and can balance the center of gravity of the hydraulic pump station 22. The first balancing block 23 balances the center of gravity of the hydraulic pump station 22, that is, the first balancing block 23 can balance the eccentric moment of the grab beam body 20 provided with the hydraulic pump station 22.

[0057] Exemplarily, the first trim block 23 capable of balancing the center of gravity of the hydraulic pump station 22 is implemented as follows: the weight of the first trim block 23 on the side away from the hydraulic pump station 22 along the length direction of the grab beam 20 is greater than the weight of the side close to the hydraulic pump station 22. For example, the volume V1 of the first trim block 23 on the side away from the hydraulic pump station 22 along the length direction of the grab beam 20 is set to be greater than the volume V2 of the side close to the hydraulic pump station 22, that is, V1>V2 (e.g. Figure 4 As shown in the figure, since the center of gravity A1 of the lifting point does not coincide with the center of gravity B1 of the hydraulic pump station, by setting the volume V1 of the first trim block, along the length of the grab beam, away from the hydraulic pump station, to be larger than the volume V2 of the side closer to the hydraulic pump station, the combined center of gravity of the hydraulic pump station and the first trim block can be brought nearly into alignment with the center of gravity A1 of the lifting point. In some embodiments, the first trim block 23 can be made of concrete or steel (e.g., steel scraps) to reduce the production cost of the first trim block 23.

[0058] Since the present invention provides a first balancing block 23 on the grab beam body 20 that can balance the center of gravity of the hydraulic pump station 22, it is possible to ensure that the grab beam body 20 with a single lifting point 21 structure on the upper part can work smoothly to meet the requirements of a group of hydraulic grab beams being able to smoothly open and close gates and trash racks of different sizes.

[0059] In order to avoid installation problems of the upper single hanging point 21, the lower hanging point 26, the positioning guide sleeve 31 and the pinning device, such as the hydraulic pinning device 37, and the supporting slider 36 caused by the setting of the first balancing block 23, in some preferred embodiments, the first balancing block 23 is set inside the grab beam body 20, and thereby the compactness of the overall structure of the hydraulic grab beam can be ensured.

[0060] Since the first trim block 23 has a certain density tolerance, the first trim block 23 obtained by theoretical calculation cannot completely balance the center of gravity of the hydraulic pump station 22 during actual use. For example, after the first trim block 23 is installed, there is still an eccentric moment of no more than 300 N.mm. In order to reduce the impact of the inability to completely balance the center of gravity of the hydraulic pump station 22, in some preferred embodiments, such as Figure 3As shown, the center-of-gravity adjustable hydraulic grab beam further includes a fixed counterweight 24 mounted on the grab beam body 20. The fixed counterweight 24 is located on the grab beam body 20 at a position corresponding to the upper single lifting point 21. Exemplarily, the fixed counterweight 24 is positioned along the length of the grab beam body 20 at the same position as the upper single lifting point 21. Preferably, the fixed counterweight 24 is not located on the upper or lower portion of the grab beam body 20, but rather on the front or rear side of the grab beam body 20 (one facing the water flow direction, the other on the side of the grab beam body 20 facing away from the front). Generally, the water flow direction is parallel to the width of the grab beam body 20) to avoid interfering with the installation of the upper single lifting point 21 and the lower lifting points or the positioning guide sleeve 31. Preferably, the fixed counterweight 24 is located on both the front and rear sides of the grab beam body 20. Furthermore, in order to ensure that the fixed counterweight 24 can ensure the stability of the upper single hanging point 21, the length of the fixed counterweight 24 along the length direction of the grab beam 20 is greater than the length of the upper single hanging point 21 along the length direction of the grab beam 20.

[0061] In some preferred embodiments, Figure 5As shown, the center of gravity adjustable hydraulic grab beam also includes at least two sets of guide seats 25 arranged at the lower part of the grab beam body 20; and at least one set of positioning guide sleeves 31 that can be detachably arranged on the guide seats 25 and used to cooperate with the guide pins on the target object to be opened and closed. Illustratively, the number of guide seats 25 can be set according to the number and characteristics of the targets that need to be opened and closed. For example, when a group of hydraulic grab beams is required to open and close the working gate and the trash rack respectively, two groups of guide seats 25 can be set, namely the first guide seat 251 and the second guide seat 252, wherein the first guide seat 251 can correspond to the guide pin of the working gate, and the second guide seat 252 can correspond to the guide pin of the trash rack; for another example, when a group of hydraulic grab beams is required to open and close the working gate, the inspection gate and the trash rack respectively, three groups of guide seats 25 can be set, namely the first guide seat 251, the second guide seat 252 and the third guide seat, wherein the first guide seat 251 can correspond to the guide pin of the working gate, the second guide seat 252 can correspond to the guide pin of the trash rack, and the third guide seat can correspond to the guide pin of the working gate. Because the dimensions or structures of the top crossbeam and upper lifting point of different gates or trash racks vary, when the same set of hydraulic grab beams needs to open and close different targets (trash racks, inspection gates, or service gates), positioning guide sleeves 31 need to be configured at different locations on the grab beam body 20. Preferably, at least two sets of guide seats 25 are arranged along the width of the grab beam body 20. Because different targets generate different torques on the single upper lifting point 21 of the hydraulic grab beam when the hydraulic grab beam opens and closes them, in order to balance the different torques generated by different targets on the single upper lifting point 21 of the hydraulic grab beam, the hydraulic grab beam is further provided with a first movable unit 32 mounted on the grab beam body 20 and a second balancing block 33 mounted on the first movable unit 32. The first movable unit 32 is configured to drive the second balancing block 33 to move along the width of the grab beam body 20. Exemplarily, the first movable unit 32 includes a first slide bar 321 disposed on the grab beam body 20 along the width of the grab beam body 20, and the second trim block 33 is mounted on the first slide bar 321. Furthermore, to ensure that the second trim block 33 can be stably maintained in position after being moved into position, the gravity-adjustable hydraulic grab beam also includes a first locking unit 34. The first locking unit 34 is configured to lock the second trim block 33 relative to the first movable unit 32. Exemplarily, the first locking unit 34 includes a first screw 341 and a first nut 342 that adapt to each other. The first screw 341 is disposed on the grab beam body 20 along the width of the grab beam body 20, and the second trim block 33 is mounted on the first screw 341. At least two first nuts 342 are provided, with at least one first nut 342 positioned on each side of the second trim block 33. Thus, the fixed position of the second trim block 33 relative to the first slide bar 321 can be adjusted by adjusting the position of the first nut 342 on the first screw 341.Specifically, the installation position of the second balancing block 33 depends on the center of gravity of the object to be opened and closed. For example, when in use, when the positioning guide sleeve 31 is connected to the first guide seat 251, the second balancing block 33 is fixed on the side close to the first guide seat 25 (such as. Figure 3 When the positioning guide sleeve 31 is connected to the second guide seat 252, the second trim block 33 is fixed near the side of the second guide seat 25 (as shown); Figure 6 Preferably, the first movable unit 32 is provided at at least one of the two ends along the length of the gripping beam 20. Furthermore, to ensure the balancing effect of the second balancing block 33, two sets of first movable units 32 are provided, one at each end along the length of the gripping beam 20.

[0062] Since the trough widths corresponding to different targets and the distances between the lifting points of the objects to be lifted and the supporting trough surface are different, when the same existing set of hydraulic grab beams is used for different targets, it is impossible to simultaneously ensure that the single lifting point 21 on the upper part of the hydraulic grab beam is consistent with the lifting points of all targets in the direction of water flow. In order to solve this problem, Figure 4As shown, the hydraulic grab beam with adjustable center of gravity also includes at least one set of lifting point offset plates 35 mounted on the grab beam body 20 to align the single lifting point 21 on the upper portion of the grab beam body 20 with the lifting point of the target object across the width of the grab beam body 20. Preferably, when the hydraulic grab beam with adjustable center of gravity also includes a support slider 36 removably mounted on the grab beam body 20, the lifting point offset plates 35 are removably mounted between the support slider 36 and the grab beam body 20. This ensures that the support slider 36 rests against the corresponding trough wall while also ensuring that the single lifting point 21 on the upper portion of the hydraulic grab beam and the lifting point of the target object are aligned along the direction of water flow. Preferably, the thickness T of the lifting point offset plates 35 is set to half the difference in distance from the opening and closing center of the target object to the corresponding trough. The placement of the lifting point offset plates 35 can be determined based on the size of the trough corresponding to the target object and the dimensions of the trough support surface and the lifting point of the target object across the width of the corresponding trough. Exemplarily, the lifting point offset plate 35 is provided on the side of the grab beam body 20 away from the positioning guide sleeve 31 along the width direction thereof. Thus, when the same set of hydraulic grab beams is used to open and close different targets, the lifting point offset plate 35 can be installed on different sides of the grab beam body 20 to ensure that the single lifting point 21 on the upper part of the hydraulic grab beam is consistent with the lifting point of the target object in the direction of water flow. Specifically, the thickness, position and number of the lifting point offset plates 35 can be set according to the corresponding groove width when the hydraulic grab beam to which it belongs is used and the range of variation of the distance from the lifting point of the object to be lifted to the support surface. Preferably, the lifting point offset plate 35 is provided on the side of the grab beam body 20 away from the positioning guide sleeve 31 along the width direction thereof. For example, when the hydraulic grab beam is used to open and close the gate, since the center of gravity of the gate is biased toward the downstream, the lifting point offset plate 35 needs to be installed in a position slightly upstream (such as Figure 7 When the hydraulic grab beam is used to open and close the trash rack, since the center of gravity of the trash rack is biased upstream, it is necessary to install the lifting point offset plate 35 in a downstream position (such as Figure 8 (as shown) to ensure that the single lifting point 21 on the upper portion of the hydraulic grab beam aligns with the lifting point of the target object in the direction of the water flow. When the width B of the gate slot 100 is the same as the width B' of the trash rack slot 200, the distance Y1 from the gate opening and closing center to the gate slot 100 during gate opening and closing differs from the distance Y1' from the opening and closing center of the trash rack and the center of the support slot surface to the trash rack slot 200. The thickness T of the lifting point offset plate 35 is |YY`| / 2.

[0063] Figures 9 to 15 A gate hoist according to one embodiment of the present invention is schematically shown.

[0064] like Figure 9 As shown, the gate hoist includes the aforementioned center-of-gravity-adjustable hydraulic grab beam 2A.

[0065] In some preferred embodiments, Figure 9 As shown, the gate hoist includes a centralized gate storage 40 provided on the gate pier 10 for respectively storing the sub-gates 51 constituting the stoplog gate 50; a first motion unit 1 fixedly provided relative to the gate pier 10; and a gate hoist 2 provided on the first motion unit 1, the gate hoist 2 including a hydraulic grab beam 2A; wherein the first motion unit 1 is configured to drive the gate hoist 2 to reciprocate between the gate slot 100 of the gate pier 10 for installing the stoplog gate 50 and the centralized gate storage 40 provided on the gate pier 10 (i.e., along the X direction); the gate hoist 2 is configured to be able to take and place the sub-gates 51. Generally, a water-stop device 512 is provided between adjacent sections of the sub-gates 51 to prevent water leakage between the adjacent sub-gates 51, and each section of the sub-gate 51 is provided with a pin hole 511 matching the hydraulic grab beam 2A to facilitate the gate hoist 2 to lift the sub-gate 51.

[0066] As one embodiment of the first motion unit 1, continue to refer to Figure 9 As shown, the first motion unit 1 includes a running rail 11 fixedly mounted relative to the gate pier 10, the running rail 11 being arranged along the X-direction; and a running mechanism 12 capable of moving along the extension direction of the running rail 11. Exemplarily, the running mechanism 12 includes running wheels 122 adapted to the running rail 11, and a first rotary motor 121 capable of driving the running wheels 122 to rotate on the running rail 11. Preferably, to facilitate the installation of the opening and closing device 2 on the first motion unit 1, the first motion unit 1 also includes a frame 13, the first rotary motor 121 and the opening and closing device 2 being relatively fixedly mounted on the frame 13, and the running wheels 122 being pivotally mounted on the frame 13.

[0067] When using the gate opening and closing machine, the operator can clamp the sub-gate 51 through the gate opening and closing device 2, and drive the gate opening and closing device 2 through the first motion unit 1 to transport the clamped sub-gate 51 from the centralized gate warehouse 40 to the gate slot 100, or from the main gate to the centralized gate warehouse 40. In this way, the operator's work intensity can be reduced, and the number of operators can be reduced while achieving stratified water extraction according to demand.

[0068] In some embodiments, as Figure 9As shown, the centralized gate warehouse 40 is provided with at least two branch gate slots 410 for accommodating a single sub-gate 51, and the centralized gate warehouse 40 is configured so that, when it is set on the gate pier 10, all the branch gate slots 410 are arranged along the direction (i.e., the X direction) in which the first motion unit 1 drives the opening and closing device 2 to move. In this way, it is convenient for the first motion unit 1 to drive the opening and closing device 2 to place different sub-gates 51 in different branch gate slots 410, so as to facilitate the classified placement of the sub-gates 51, so that the opening and closing machine is suitable for automatically taking and placing the sub-gates 51 according to the actual water intake scheme. In particular, the number of branch gate slots 410 is equal to the number of sub-gates 51 that make up the stoplog gate 50. In this way, it can be ensured that the sub-gates 51 taken out of the gate slot 100 have branch gate slots 410 for storage.

[0069] In some preferred embodiments, the centralized door garage 40 is detachably mounted on the gate pier 10, and the centralized door garage 40 is provided with a locking structure 42. The centralized door garage 40 has an expanded state when locked by the locking structure 42, and a folded state when unlocked by the locking structure 42. Exemplarily, the centralized door garage 40 includes a door garage body 41 and a locking structure 42; the door garage body 41 has an expanded state when locked by the locking structure 42 (e.g., Figure 10 ), and the folded state when the locking structure 42 unlocks it (as shown Figure 12 As shown). Thus, when the centralized door garage 40 needs to store the sub-gates 51, the centralized door garage 40 can be kept in an unfolded state by the locking structure 42; when the centralized door garage 40 needs to be transported, the locking structure 42 can be unlocked to put the centralized door garage 40 in a folded state, thereby reducing the volume of the centralized door garage 40 and making it easier to transport the centralized door garage 40.

[0070] As one embodiment of the centralized door library 40, Figures 10 to 12 As shown, the centralized door garage 40 includes a bottom bracket 411 and side brackets 412, one end of which is pivotally arranged on opposite sides of the bottom bracket 411 around a first pivot axis 413, that is, at least two groups of side brackets 412 are arranged side by side; the side brackets 412 have an expanded state (such as when the locking structure 42 locks them with the bottom bracket 411) Figure 10 ), and the folded state when the locking structure 42 unlocks it from the bottom bracket 411 (as shown Figure 12As shown). Thus, when the centralized door garage 40 needs to store the sub-gate 51, the side bracket 412 can be kept in the unfolded state by the locking structure 42; when the centralized door garage 40 needs to be transported, the locking structure 42 can be unlocked to put the side bracket 412 in the folded state. Moreover, since the side bracket 412 can also pivot relative to the bottom bracket 411 about the first pivot axis 413 to further improve the folded state of the centralized door garage, the transportation difficulty of the centralized door garage 40 can be reduced by reducing the volume of the centralized door garage 40.

[0071] As one embodiment of the side bracket 412 having an unfolded state and a folded state, continue to refer to Figures 9 to 12 As shown, the side bracket 412 includes at least two guide rods 4121 and at least one support rod 4122 pivotally connected to all the guide rods 4121 about a second pivot axis 4123. The guide rods 4121 are pivotally arranged relative to the bottom bracket 411 about a first pivot axis 413. The second pivot axis 4123 is parallel to the first pivot axis 413, and a storage position for accommodating a sub-gate 51 is formed between two adjacent guide rods 4121. Thus, the side bracket 412 can be converted between an unfolded state and a folded state by adjusting the angle at which the support rods 4122 pivot relative to the guide rods 4121 about the second pivot axis 4123. At the same time, the classification and management of the sub-gates 51 are facilitated. In particular, all the guide rods 4121 are arranged so that, when the centralized gate library 40 is set on the gate pier 10, they are arranged along the direction in which the first motion unit 1 drives the opening and closing device 2 to move. Thus, by adjusting the angle at which the support rod 4122 pivots relative to the guide rod 4121 about the second pivot axis 4123, when the side bracket 412 is in the folded state, adjacent guide rods 4121 can be aligned and abutted against each other, thereby making the side bracket 412 sufficiently compact when in the folded state. Preferably, a receiving position for accommodating a sub-gate 51 is formed between two adjacent guide rods 4121 in the side bracket 412, and the receiving positions of the two side brackets 412 and the bottom bracket 411 together form the sub-gate groove 410. Thus, by forming a space between the guide rods 4121 to accommodate the sub-gate 51, the structure of the centralized door library can be simplified, facilitating its manufacture and installation. Preferably, in order to facilitate the smooth placement of the sub-gate 51 into the sub-gate groove 410, a guide section 41211 is further provided at the opening of the sub-gate groove 410. Specifically, this is achieved by providing a guide section 41211 (such as a chamfer or a bevel) on the side of the guide rod 4121 facing away from the bottom bracket 411. Generally, the chamfers and bevels are provided on the sides of adjacent guide rods 4121 facing each other.

[0072] As one embodiment of the locking structure 42, Figures 10 to 12As shown, the locking structure 42 includes at least two diagonal braces 421, which are non-parallel to the guide rods 4121. One end of the at least two diagonal braces 421 is connected to the bottom bracket 411, and the other end is connected to the side bracket 412. The connection positions on at least one of the bottom bracket 411 and the side bracket 412 are different. At the same time, the connection with at least one of the bottom bracket 411 and the side bracket 412 is detachable. Thus, the side bracket 412 can be locked relative to the bottom bracket 411 by connecting the at least two diagonal braces 421 to the bottom bracket 411 and the side bracket 412. When the side bracket 412 needs to be unlocked from the bottom bracket 411, it is only necessary to remove the diagonal braces 421 from the bottom bracket 411 or the side bracket 412, which facilitates installation and removal. Preferably, the at least two diagonal braces 421 are non-parallel when the side bracket 412 is in the deployed state. Thus, it can be ensured that when the diagonal brace 421 connects the side bracket 412 to the bottom bracket 411, the side bracket 412 is locked and in an expanded state. Preferably, the connection positions of at least two diagonal brace rods 421 and the side bracket 412 are respectively located near the two ends of the side bracket 412. Thus, it can be ensured that when the diagonal brace rod 421 connects the side bracket 412 to the bottom bracket 411, the side bracket 412 is locked and in an expanded state. In particular, the diagonal brace rod 421 is pivotally connected to the bottom bracket 411 via a third pivot axis 422, and is pivotally connected to the side bracket 412 via a fourth pivot axis 423, and the third pivot axis 422 and the fourth pivot axis 423 are parallel to the first pivot axis 413. Therefore, when the diagonal support rod 421 is pivotally connected to the bottom bracket 411 through the third pivot shaft 422, when it is necessary to unlock the centralized door garage 40, the diagonal support rod 421 and the side bracket 412 can be separated; when the diagonal support rod 421 is pivotally connected to the side bracket 412 through the fourth pivot shaft 423, when it is necessary to unlock the centralized door garage 40, the diagonal support rod 421 and the bottom bracket 411 can be separated, so that not only the side bracket 412 can be formed into a folded state, but the diagonal support rod 421 can also be pivoted relative to the bottom bracket 411 (or the side bracket 412) to make the entire centralized door garage 40 folded more compactly.

[0073] As one of the preferred embodiments of the opening and closing device 2, Figures 13 to 15As shown, the opening and closing device 2 also includes a lifting unit 2000 provided on the first motion unit 1; a hydraulic grab beam 2A is provided on the lifting unit 2000 for picking up and placing the sub-gate 51; wherein the first motion unit 1 is configured to drive the lifting unit 2000 to reciprocate between the gate slot 100 of the gate pier 10 for installing the stoplog gate 50 and the centralized gate library 40 provided on the gate pier 10; the lifting unit 2000 is configured to drive the hydraulic grab beam 2A to lift or lower; the hydraulic grab beam 2A is configured to grab or release the sub-gate 51. Therefore, when the first motion unit 1 drives the lifting unit 2000 to move into position, the lifting unit 2000 can drive the hydraulic grab beam 2A to move up and down, so that the hydraulic grab beam 2A can pick up and place the sub-gate 51. Generally, a positioning and pinning device 37 is provided at the bottom of the hydraulic grab beam 2A for automatically grabbing the sub-gate 51.

[0074] As one embodiment of the lifting unit 2000, the lifting unit 2000 may be a lifting unit 2000 commonly used in a gate hoist.

[0075] As one embodiment of the hydraulic grab beam 2A, the lifting unit 2000 may adopt the aforementioned hydraulic grab beam 2A.

[0076] Figure 16 The figure schematically shows a method for using a hydraulic grab beam with adjustable center of gravity according to an embodiment of the present invention.

[0077] The method for using the center-of-gravity adjustable hydraulic grab beam comprises the following steps:

[0078] S21: Determine the position of the hydraulic pump station 22 on the grab beam body 20;

[0079] S22: According to the eccentric torque generated by the hydraulic pump station 22 on the grab beam body 20, a first balancing block 23 is provided on the grab beam body 20, and the value of the combined eccentric torque generated by the hydraulic pump station 22 and the first balancing block 23 on the grab beam body 20 is ensured to be less than 300 N.mm;

[0080] S23: According to the comprehensive eccentric moment, a fixed counterweight 24 is set on the grab beam body 20, and the comprehensive eccentric moment generated by the hydraulic pump station 22, the first balancing block 23 and the fixed counterweight 24 on the grab beam body 20 is ensured to be zero.

[0081] Thus, the center of gravity of the hydraulic grab beam can be preliminarily balanced by the first balancing block 23 , and then the center of gravity of the hydraulic grab beam can be completely balanced by fine-tuning the fixed counterweight block 24 .

[0082] Figure 17 The figure schematically shows a method for using a hydraulic grab beam with adjustable center of gravity according to another embodiment of the present invention.

[0083] S201: According to the center of gravity position of the target object to be opened and closed, the position of the second balancing block 33 along the width direction of the grab beam body 20 is adjusted by the first movable unit 32, and when the single lifting point 21 on the upper part of the hydraulic grab beam and the center of gravity of the target object to be opened and closed are on the same vertical line, the second balancing block 33 is locked relative to the first movable unit 32 by the first locking unit 34.

[0084] Thus, gates (or trash racks) of different sizes can be opened and closed respectively through a group of hydraulic grab beams; when a specific target object needs to be opened or closed, it is only necessary to install the positioning guide sleeve 31 to the corresponding guide seat 25; and the first moving unit 32 can be used to drive the second balancing block 33 to move, so as to balance the different torques generated by different targets on the single lifting point 21 on the upper part of the hydraulic grab beam, and the first locking unit 34 can be used to ensure that the second balancing block 33 moved into position can be stably maintained in this position.

[0085] Figure 18 The following schematically shows a method for using a hydraulic grab beam with adjustable center of gravity according to another embodiment of the present invention.

[0086] S2001: Determine the thickness of the lifting point offset plate 35 according to the distance from the opening and closing center of the target object to be opened and closed to the corresponding slot;

[0087] S2002: The lifting point offset plate 35 is positioned based on the slot dimensions of the target object to be opened and closed, and the dimensions of the slot support surface and the lifting point of the target object to be opened and closed, over the corresponding slot width. For example, the lifting point offset plate 35 is positioned on the side of the grab beam 20 that is away from the positioning guide sleeve 31 along the width direction of the grab beam 20.

[0088] As one specific embodiment of step S2001, the thickness T of the hanging point offset plate 35 is set to half of the difference in distances from the opening and closing centers of different objects to be opened and closed to the corresponding slots. For example, when the slot width B of the gate slot 100 is the same as the slot width B' of the trash rack slot 200, the distance Y1 from the opening and closing center to the gate slot 100 during gate opening and closing is different from the distance Y1' from the opening and closing center of the trash rack and the center of the supporting slot surface to the trash rack slot 200. The thickness T of the hanging point offset plate 35 is set to |YY`| / 2.

[0089] Figure 9 and Figure 19 A control system for a gate hoist according to an embodiment of the present invention is schematically shown.

[0090] like Figure 9 and Figure 19As shown, the hoist control system is used for the aforementioned hoist for realizing automatic stratified water intake of the stoplog gate 50, which includes a control module 61; one of a first positioning device 62 and a first detection device 63 provided on the gate pier 10 and corresponding to the gate slot 410; and the other of the first positioning device 62 and the first detection device 63 provided on the hoisting device 2, for example, the first positioning device 62 is provided on the gate pier 10, and the first detection device 63 is provided on the hoisting device 2, for example, provided on the frame 13; The first detection device 63 is configured to send a detection signal to the control module 61 when detecting the first positioning device 62; the control module 61 is configured to control the opening and closing device 2 to pick up and place the sub-gate 51 in the corresponding sub-gate slot 410 based on the received detection signal, specifically, to control the hydraulic gripping beam 2A of the opening and closing device 2, and more specifically, to control the pinning device 37 provided on the gripping beam body 20 of the hydraulic gripping beam 2A. The pinning device 37 can be a pinning device 37 commonly used in the prior art, such as a hydraulic pinning device. Exemplarily, the first detection device 63 can be a commonly used detection device such as an infrared sensor or a contact sensor, or can be other commonly used detection devices. Exemplarily, the control module 61 can be a PLC or an MCU.

[0091] When the gate hoist is used in conjunction with the gate hoist control system, the control module 61, the first positioning device 62 and the first detection device 63 can assist the first motion unit 1 to automatically drive the lifting unit 2000 and the hydraulic grab beam 2A to the position of the corresponding gate slot 410, so as to assist the gate hoist to achieve automation.

[0092] In some preferred embodiments, continue to refer to Figure 9 and Figure 19 As shown, the control system for the gate hoist also includes one of a second positioning device 64 and a second detection device 65 provided on the gate corresponding to the gate slot 100; and the other of the second positioning device 64 and the second detection device 65 provided on the gate hoist 2; wherein the second detection device 65 is configured to send a detection signal to the control module 61 when detecting the second positioning device 64; and the control module 61 is configured to control the gate hoist 2 to clamp the sub-gate 51 in the gate slot 100 based on the received detection signal. Exemplarily, the second detection device 65 can be a commonly used detection device such as an infrared sensor or a contact sensor, or other commonly used detection devices. Thus, the control module 61, the second positioning device 64, and the second detection device 65 can assist the first motion unit 1 to automatically drive the lifting unit 2000 and the hydraulic grab beam 2A to the position where the gate slot 100 is located. Specifically, the first rotary motor 121 in the first motion unit 1 can be controlled to assist the gate hoist in achieving automation.

[0093] In some preferred embodiments, Figure 9 As shown, the first positioning devices 62 are provided on the gate pier 10, and all the first positioning devices 62 are arranged along the direction in which the first motion unit 1 drives the opening and closing device 2 to move, and are arranged perpendicular to the direction in which the first motion unit 1 drives the opening and closing device 2 to move. The number of first detection devices 63 is the same as the number of first positioning devices 62, and the first detection devices 63 are provided on the opening and closing device 2, and all the first detection devices 63 are arranged perpendicular to the direction in which the first motion unit 1 drives the opening and closing device 2 to move. This ensures that each first detection device 63 independently detects a first positioning device 62, thereby ensuring the accuracy of the detection by the first detection device 63.

[0094] In some preferred embodiments, Figure 19 As shown, the control system for the gate hoist also includes a height detection device 66 for detecting the height of the sub-gate 51 lifted by the gate hoist 2. For example, the height detection device 66 is set on the frame 13; the height detection device 66 is configured to be able to send a height signal of the height of the sub-gate 51 lifted by the gate hoist 2 to the control module 61. As a result, the gate hoist 2 can, with the assistance of the control module 61 and the height detection device 66, control the lifting unit 2000 to drive the hydraulic grab beam 2A to a set height, and automatically pick up and place the sub-gate 51 at the set height, so as to assist the gate hoist in achieving automation. Exemplarily, the height detection device 66 can be a displacement sensor or distance measuring device commonly used in the prior art.

[0095] In some preferred embodiments, Figure 9 and Figure 19 As shown, the hoist control system also includes a water level detection device 67 for detecting the water level; the water level detection device 67 is installed on the gate pier 10; the water level detection device 67 is configured to send the water level signal it detects to the control module 61. As a result, the control module 61 can determine whether to open or close the nth gate section through calculation based on the water level and water intake flow command collected by the water level detection device 67, and control the hoist device 2 to place the opened or closed nth gate section into the corresponding branch gate slot 410 or gate slot 100. For example, the water level detection device 67 can be a water level sensor commonly used in the prior art.

[0096] Figure 20 The control method of the control system for a gate hoist according to one embodiment of the present invention is schematically shown.

[0097] like Figure 20 As shown, the control method of the hoist control system includes the following steps:

[0098] S31: The control module 61 controls the first motion unit 1 to move the opening and closing device 2 to the main gate according to the detection signal sent by the second detection device 65 based on the collected water level height signal;

[0099] S32: The control module 61 controls the opening and closing device 2 to clamp the sub-gate 51 in the gate slot 100 that is above the collected water level according to the height detection device 66;

[0100] S33: The control module 61 controls the first motion unit 1 to transport the opening and closing device 2 to the corresponding gate slot 410 according to the detection signal sent by the first detection device 63, and controls the opening and closing device 2 to place the clamped sub-gate 51 into the corresponding gate slot 410;

[0101] S34: Repeat steps S31 to S33 until the water level at the top sub-gate 51 in the main gate matches the collected water level.

[0102] Figure 21 A control method for a gate hoist control system according to another embodiment of the present invention is schematically shown.

[0103] like Figure 21 As shown, the control method of the hoist control system includes the following steps:

[0104] S31': The control module 61 controls the first motion unit 1 to move the opening and closing device 2 to the corresponding gate slot 410 according to the detection signal sent by the first detection device 63 based on the collected water level height signal;

[0105] S32': The control module 61 controls the opening and closing device 2 to clamp the sub-gate 51 in the corresponding sub-gate slot 410;

[0106] S33': The control module 61 controls the first motion unit 1 to transport the opening and closing device 2 to the main gate according to the detection signal sent by the second detection device 65, and controls the opening and closing device 2 to place the clamped sub-gate 51 into the main gate slot;

[0107] S34': Repeat steps S31' to S33' until the water level at the top sub-gate 51 in the main gate matches the collected water level.

[0108] Thus, the opening and closing device 2 can be automatically driven to the position of the corresponding gate slot 410 through the control module 61, the first positioning device 62, the first detection device 63, the auxiliary first motion unit 1, the height detection device 66, the second positioning device 64 and the second detection device 65, so as to assist the opening and closing machine to achieve automation, thereby solving the problems of low intelligence level of traditional opening and closing machines and difficulty in achieving automated operation and intelligent adjustment of water supply flow.

[0109] In some embodiments, the collected water level height signal is calculated by the control module 61 based on the water intake flow rate instruction received and the water level height information detected by the water level detection device 67. Therefore, the hoist 2 can be automatically driven to the position of the corresponding gate slot 410 by the received water intake flow rate instruction and the water level detection device 67, as well as the control module 61, the first positioning device 62, the first detection device 63, the auxiliary first motion unit 1, the height detection device 66, the second positioning device 64 and the second detection device 65, so as to realize the automation of the auxiliary hoist.

[0110] When the control method of the gate hoist control system is used in practice, the water level can be detected by the water level detection device 67, and the water level height signal is converted into a 4-20mA current output signal, and the output signal is fed back to the control module 61. After calculation, the control module 61 determines the number of sections to open and close the gate. When the height of the gate does not reach the water level determined by the water level detection device 67, the control module 61 continues to issue instructions to the gate hoist 2, and the gate hoist 2 continues to open and close the gate (increase or decrease the number of sections of the gate), ultimately achieving the purpose of automatically regulating the water volume. The height of the gate 51 can be detected by the height detection device 66, and the lifting height signal of the lifting unit 2000 is converted into a 4-20mA current output signal, and the output signal is fed back to the control module 61. The control module 61 assigns a value, and the height of the gate 51 is one-to-one corresponded to the first detection device 63 of the gate hoist 2, and the first detection device 63 of the gate hoist 2 is one-to-one corresponded to the first positioning device 62 above each gate slot. The gate height information is transmitted to the control module 61 through the height detection device 66 , and the control module 61 decides to park the n-th gate at the N-th gate slot position of the centralized gate slot.

[0111] In the present invention, connection or installation, unless otherwise specified, refers to a fixed connection. Fixed connections can be implemented as removable or non-removable connections commonly used in the prior art. Removable connections can be implemented using existing technologies, such as threaded connections or key connections. Non-removable connections can also be implemented using existing technologies, such as welding or gluing.

[0112] The above are only some embodiments of the present invention. For those skilled in the art, several modifications and improvements can be made without departing from the inventive concept of the present invention, which all fall within the scope of protection of the present invention.

Claims

1. The center of gravity adjustable hydraulic grab beam is characterized by: include: A grab beam body, wherein a single lifting point is provided on the upper portion of the grab beam body; A hydraulic pump station provided on one side of the grab beam body; and a first balancing block provided on the grab beam body for balancing the eccentric moment of the hydraulic pump station; It also includes at least two sets of guide seats provided at the lower portion of the grab beam body; and at least one set of positioning guide sleeves detachably provided on the guide seats and used in conjunction with guide pins on the target object to be opened and closed; At least two groups of guide seats are arranged along the width direction of the grab beam body; The center-of-gravity adjustable hydraulic grab beam further includes a first moving unit provided on the grab beam body and a second balancing block provided on the first moving unit, wherein the first moving unit is configured to drive the second balancing block to move along the width direction of the grab beam body; The center-of-gravity-adjustable hydraulic grab beam further includes a first locking unit, which is configured to lock the second trim block relative to the first moving unit.

2. The center-of-gravity adjustable hydraulic grab beam according to claim 1, characterized in that: It also includes a fixed counterweight block arranged on the grab beam body, and the fixed counterweight block is arranged at a position on the grab beam body corresponding to the single lifting point.

3. The center-of-gravity adjustable hydraulic grab beam according to claim 2, characterized in that: The first balancing block is arranged inside the grab beam body.

4. The center-of-gravity adjustable hydraulic grab beam according to any one of claims 1 to 3, characterized in that: It also includes at least one set of lifting point offset plates detachably provided on the grabbing beam body for aligning a single lifting point on the upper portion of the grabbing beam body with a lifting point of a target object to be opened and closed in the width direction of the grabbing beam body.

5. The center-of-gravity adjustable hydraulic grab beam according to claim 4, characterized in that: It also includes a support slider detachably provided on the grab beam body; The lifting point offset plate provided on the grab beam body is detachably provided between the support sliding block and the grab beam body.

6. The center-of-gravity-adjustable hydraulic grab beam according to claim 5, characterized in that: The thickness T of the lifting point offset plate is set to half of the difference in distances from the opening and closing centers of different targets to be opened and closed to the corresponding slots.

7. The center-of-gravity-adjustable hydraulic grab beam according to claim 5, characterized in that: The placement position of the hanging point offset plate can be determined according to the size of the slot corresponding to the target to be opened and closed and the size of the supporting surface of the slot and the hanging point of the target to be opened and closed on the corresponding slot width.

8. The hoist is characterized by: The hydraulic grab beam with adjustable center of gravity comprises the one described in any one of claims 1 to 7.

9. The method for using the center-of-gravity-adjustable hydraulic grab beam according to any one of claims 2 to 7, characterized in that: The following steps are involved: S21: Determine the position of the hydraulic pump station on the grab beam body; S22: According to the eccentric torque generated by the hydraulic pump station on the grab beam body, a first balancing block is provided on the grab beam body, and the value of the combined eccentric torque generated by the hydraulic pump station and the first balancing block on the grab beam body is ensured to be less than 300 N·mm; S23: According to the comprehensive eccentric moment, a fixed counterweight is provided on the grab beam body, and the value of the comprehensive eccentric moment generated by the hydraulic pump station, the first balancing block and the fixed counterweight on the grab beam body is ensured to be zero.

10. The method for using the center-of-gravity-adjustable hydraulic grab beam according to any one of claims 1 to 7, characterized in that: The following steps are involved: S201: According to the center of gravity position of the target object to be opened and closed, the position of the second balancing block along the width direction of the grab beam body is adjusted by the first movable unit, and when the single lifting point on the upper part of the hydraulic grab beam and the center of gravity of the target object to be opened and closed are on the same vertical line, the second balancing block is locked relative to the first movable unit by the first locking unit.

11. The method for using the center-of-gravity-adjustable hydraulic grab beam according to any one of claims 4 to 7, characterized in that: The following steps are involved: S2001: Determine the thickness of the lifting point offset plate according to the distance from the opening and closing center of the target object to be opened and closed to the corresponding slot; S2002: Determine the placement position of the hanging point offset plate according to the size of the slot corresponding to the target object to be opened and closed and the size of the slot support surface and the hanging point of the target object to be opened and closed in the corresponding slot width.

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