Gate righting device and operation mode

Abstract

The invention relates to a gate righting device and an operation mode, and belongs to the technical field of AGVs. According to the method, a righting wheel is installed at the front end of a righting mechanism, an electromagnet is tightly attached to the side of the righting wheel, and the attraction face of the electromagnet faces the direction of a gate righting by the righting wheel. The attraction surface of the electromagnet is slightly lower than the contour surface of the centralizing wheel to ensure that the electromagnet does not directly contact with the gate. In order to improve the reliability, the electromagnet is placed between the two wheels, and the outer contour of the electromagnetic wheel is designed to be a cambered surface so as to reduce the resistance. Through cooperation of the central controller and the laser range finder, a fuzzy logic control algorithm is used for adjusting the position of the hydraulic rod and the attraction force of the electromagnet, it is ensured that the gate is kept stable in the hoisting process, and shaking and deviation are avoided. The device has the advantages of safety improvement, stability improvement, adaptability enhancement, simple structure, low cost, all-weather operation capability and the like, and is particularly suitable for hoisting operation of large gates of hydropower stations and the like.

Description

Technical Field

[0001] The invention relates to the technical field of gate control, and in particular to a gate straightening device and an operating mode. Background Art

[0002] In the existing large gate hoisting process, the commonly used righting methods are mainly manual assisted righting and single righting wheel. When the manual assisted righting method is used, the operator usually uses hands or indirect tools (such as long poles, hooks, etc.) to right the gate. In the actual operation process, there are the following defects: 1. Operators need to be close to the large gate being hoisted, which poses a high safety risk and is prone to accidental injuries; 2. Manual operation depends on the operator's experience and skills, which is prone to deviations and affects the lifting efficiency; 3. It is difficult to achieve high-precision alignment through manual operation, which may cause the gate to shake or shift during the lifting process.

[0003] When a single straightening wheel is used to straighten the gate, although the gate can be straightened to a certain extent in a certain direction, the following main problems still exist: 1. A single righting wheel can only exert force on the gate in a certain direction and cannot fully control the movement of the gate, causing the gate to still shake during the lifting process; 2. A single righting wheel is difficult to cope with complex lifting environments, especially when the gate has an irregular shape or an uneven surface, the effect is poor. Summary of the invention

[0004] In view of the technical problems existing in the background technology, the present invention provides a gate straightening device and operation mode, which can effectively realize the straightening of the gate remotely and safely by using the device, and facilitate the unmanned operation of the entire process. The device can realize all-weather operation, especially in emergency situations where manual operation is impossible. In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve: A gate straightening device includes a central controller, a telescopic hydraulic rod and a straightening wheel. The telescopic hydraulic rod adopts a double-arm structure and is arranged in parallel on one side of the gate. The liquid inlet of the solenoid valve is connected to the external hydraulic system, and the liquid outlet of the solenoid valve is connected to the telescopic hydraulic rod through a hydraulic oil pipe. The solenoid valve is connected to the central controller signal through a first data line.

[0005] In a preferred solution, laser rangefinders are provided on both sides of the telescopic hydraulic rod, and the laser rangefinders are connected to the central controller signal via a second data line.

[0006] In a preferred solution, a righting wheel is installed at the end of the telescopic hydraulic rod, and an electromagnet is closely arranged on the side of the righting wheel. The attraction surface of the electromagnet is closely aligned with the gate direction, and the attraction surface of the electromagnet is slightly lower than the contour surface of the righting wheel.

[0007] In a preferred solution, a data processing unit, an actuator control unit and an electromagnet control unit are arranged inside the central controller.

[0008] In a preferred embodiment, the operation of the gate straightening device includes the following steps: S1. Ensure that the power supply is connected, the central controller completes the self-check, and the telescopic hydraulic rod moves to the initial waiting position; S2, the laser rangefinder measures the distance to the gate, and the central controller calculates the position and posture of the gate; S3, the central controller controls the telescopic hydraulic rod to move along a predetermined path to a position close to but not touching the gate, and then fine-tunes the position of the telescopic hydraulic rod to ensure that the righting wheel accurately touches the edge of the gate; S4. The central controller activates the electromagnet to generate enough suction to stably absorb the gate. By adjusting the position of the telescopic hydraulic rod and the suction force of the electromagnet, the gate is ensured to be accurately aligned and stable. S5. The central controller sends a signal to the lifting equipment to slowly lower the gate, allowing it to descend smoothly along the guidance of the righting wheel and fall into the entrance slot. When the gate completely enters the gate and is stable, the power supply of the electromagnet is turned off to release the adsorption of the gate, and the telescopic hydraulic rod returns to the initial waiting position.

[0009] In the preferred solution, in S2, the method for calculating the position and posture of the gate is as follows: 6.1. Install the laser rangefinders on both sides of the telescopic hydraulic rod on the same vertical line; 6.2. Assuming that the positions of laser rangefinders L1 and L2 are (X1, Y1) and (X2, Y2) respectively, the position of the gate can be represented by its centroid (Xg, Yg); 6.2. Since the laser rangefinder L1 and the laser rangefinder L2 are on the same vertical line, that is, X1=X2; the measured distances of the laser rangefinders are d1 and d2 respectively; 6.3, the horizontal position Xg of the gate can be directly obtained from the horizontal coordinates of the laser rangefinder; that is, Xg=X1=X2; 6.4. The vertical position Yg of the gate can be calculated by the following formula: ; 6.5. The inclination angle of the gate can be calculated by the following formula: .

[0010] In a preferred solution, in S4, the adjustment of the position and posture of the gate includes horizontal adjustment, vertical adjustment, angle adjustment and multi-point contact adjustment.

[0011] A gate straightening device and operation mode, the beneficial effects of which include but are not limited to the following points: 1. The present invention reduces the risk of human intervention through the use of remote control and electromagnetic attraction wheels, especially providing higher safety protection in dangerous environments; 2. The electromagnetic attraction wheel in the present invention can tightly attract the gate, ensuring that the gate remains stable during the hoisting process, avoiding shaking and deviation, and improving the accuracy and reliability of hoisting; 3. The present invention can work normally under various environmental conditions, and is not restricted by weather and light conditions. It is particularly suitable for emergency situations. When manual work is unable to be carried out, it can quickly respond and complete the task of righting the gate, thus improving the ability of emergency handling; 4. The present invention realizes multi-point contact through the combination of multiple righting wheels and electromagnets, ensures uniform force on the gate in all directions, and improves the overall stability and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a schematic diagram of the running state of the gate before it is straightened; Figure 2 It is a schematic diagram of the operating state of the gate during the righting process of the present invention; Figure 3 It is a schematic diagram of the state after the gate of the present invention is straightened.

[0013] In the figure: central controller 1, solenoid valve 2, telescopic hydraulic rod 3, laser rangefinder 4, hydraulic oil pipe 5, first data line 6, second data line 7, electromagnet 8, righting wheel 9, gate 10, entrance slot 11. DETAILED DESCRIPTION

[0014] like Figure 1 As shown, a gate straightening device includes a central controller 1, a telescopic hydraulic rod 3 and a straightening wheel 9. The telescopic hydraulic rod 3 adopts a double-arm structure. The telescopic hydraulic rod 3 is arranged in parallel on one side of the gate 10. The liquid inlet of the solenoid valve 2 is connected to the external hydraulic system, and the liquid outlet of the solenoid valve 2 is connected to the telescopic hydraulic rod 3 through a hydraulic oil pipe 5. The solenoid valve 2 is connected to the central controller 1 by signal through a first data line 6.

[0015] The preferred solution is Figure 1 As shown, laser rangefinders 4 are provided on both sides of the telescopic hydraulic rod 3 , and the laser rangefinders 4 are connected to the central controller 1 via a second data line 7 .

[0016] The preferred solution is Figure 1As shown, a straightening wheel 9 is installed at the end of the telescopic hydraulic rod 3, and an electromagnet 8 is closely arranged on the side of the straightening wheel 9. The attraction surface of the electromagnet 8 is in close contact with the gate 10, and the attraction surface of the electromagnet 8 is slightly lower than the contour surface of the straightening wheel 9 to avoid direct contact with the surface of the gate 10 and causing damage, and the outer contour of the electromagnet 8 is designed to be a curved surface to reduce the friction between the gate 10 and the gate 10.

[0017] The preferred solution is Figure 1 As shown, the central controller 1 is internally provided with a data processing unit, an actuator control unit and an electromagnet control unit; the data processing unit is used to process the data from the laser rangefinder, the actuator control unit is used to control the action of the hydraulic rod according to the processed data, and the electromagnet control unit is used to control the power-on state of the electromagnet and the size of its suction force.

[0018] Example: S1. Ensure that the power supply is connected, the central controller 1 completes the self-check, and the telescopic hydraulic rod 3 moves to the initial waiting position. In addition, the status of key components such as the electromagnet 8, the straightening wheel 9, and the telescopic hydraulic rod 3 should be checked regularly to ensure their good performance and extend the service life of the equipment; S2, the laser rangefinder 4 measures the distance to the gate 10, and the central controller 1 calculates the position and posture of the gate 10; the calculation method of the position and posture of the gate 1 is as follows: Assume that the positions of laser rangefinders L1 and L2 are (0, 0) and (1, 0) respectively, and the distances they measure are d1 = 2 meters and d2 = 3 meters respectively; The horizontal position of the gate 10 rice; The horizontal position of the gate 10 rice; The inclination angle of the gate 10 ; S3, the central controller 1 controls the telescopic hydraulic rod 3 to move along a predetermined path to a position close to but not in contact with the gate 10, and then fine-tunes the position of the telescopic hydraulic rod 3 to ensure that the righting wheel 9 accurately contacts the edge of the gate 10; S4, the central controller 1 activates the electromagnet 8 to generate sufficient suction to stably adsorb the gate 10, and adjusts the gate 10 horizontally, vertically, at an angle, and at multiple points by adjusting the position of the telescopic hydraulic rod 3 and the suction of the electromagnet 8 to ensure that the gate 10 is accurately aligned and stable; S5. The central controller 1 sends a signal to the lifting equipment to start slowly lowering the gate 10, so that it descends smoothly along the guidance of the righting wheel 9 and falls into the entrance slot 11. When the gate 10 completely enters the entrance slot 11 and is stable, the power supply of the electromagnet 8 is turned off to release the adsorption of the gate 10, and the telescopic hydraulic rod 3 returns to the initial waiting position.

[0019] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from all points of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention; any reference numerals in the claims should not be regarded as limiting the claims involved.

Claims

1. A gate straightening device, comprising a central controller (1), a telescopic hydraulic rod (3) and a straightening wheel (9), characterized in that: The telescopic hydraulic rod (3) adopts a double-arm structure. The telescopic hydraulic rod (3) is arranged in parallel on one side of the gate (10). The liquid inlet of the solenoid valve (2) is connected to the external hydraulic system. The liquid outlet of the solenoid valve (2) is connected to the telescopic hydraulic rod (3) via a hydraulic oil pipe (5). The solenoid valve (2) is connected to the central controller (1) by signal via a first data line (6).

2. The gate straightening device according to claim 1, characterized in that: Laser rangefinders (4) are provided on both sides of the telescopic hydraulic rod (3), and the laser rangefinders (4) are connected to the central controller (1) via a second data line (7) for signal transmission.

3. The gate straightening device according to claim 1, characterized in that: A straightening wheel (9) is installed at the end of the telescopic hydraulic rod (3), and an electromagnet (8) is closely arranged on the side of the straightening wheel (9). The direction of the attraction surface of the electromagnet (8) is closely aligned with the direction of the gate (10), and the attraction surface of the electromagnet (8) is lower than the contour surface of the straightening wheel (9).

4. The gate straightening device according to claim 1, characterized in that: A data processing unit, an actuator control unit and an electromagnet control unit are arranged inside the central controller (1).

5. The gate straightening device according to any one of claims 1 to 5, characterized in that: The operation of the device includes the following steps: S1. Ensure that the power supply is connected, the central controller (1) completes the self-check, and the telescopic hydraulic rod (3) moves to the initial waiting position; S2, the laser rangefinder (4) measures the distance to the gate (10), and the central controller (1) calculates the position and posture of the gate (10); S3, the central controller (1) controls the telescopic hydraulic rod (3) to move along a predetermined path to a position close to but not in contact with the gate (10), and then fine-tunes the position of the telescopic hydraulic rod (3) to ensure that the straightening wheel (9) accurately contacts the edge of the gate (10); S4, the central controller (1) activates the electromagnet (8) to generate sufficient suction force to stably adsorb the gate (10), and ensures that the gate (10) is accurately aligned and stable by adjusting the position of the telescopic hydraulic rod (3) and the suction force of the electromagnet (8); S5. The central controller (1) sends a signal to the lifting equipment to start slowly lowering the gate (10), so that it descends smoothly along the guidance of the righting wheel (9) and falls into the entrance groove (11). When the gate (10) completely enters the entrance groove (11) and is stable, the power supply of the electromagnet (8) is turned off, the adsorption of the gate (10) is released, and the telescopic hydraulic rod (3) returns to the initial waiting position.

6. The operating steps of the gate straightening device according to claim 5 are characterized in that: In S2, the position and posture of the gate (10) are calculated as follows: 6.

1. Install the laser rangefinders (4) on both sides of the telescopic hydraulic rod (3) on the same vertical line; 6.

2. Assuming that the positions of the laser rangefinder (4) L1 and the laser rangefinder (4) L2 are (X1, Y1) and (X2, Y2) respectively, the position of the gate (10) can be represented by its centroid (Xg, Yg); 6.

2. Since the laser rangefinder (4) L1 and the laser rangefinder (4) L2 are on the same vertical line, that is, X1=X2; the measured distances of the laser rangefinder (4) are d1 and d2 respectively; 6.3, the horizontal position Xg of the gate (10) can be directly obtained from the horizontal coordinate of the laser rangefinder (4); that is, Xg=X1=X2; 6.

4. The vertical position Yg of the gate (10) can be calculated by the following formula: ; 6.

5. The inclination angle of the gate (10) can be calculated by the following formula: .

7. The operation steps of the gate straightening device according to claim 5 are characterized in that: In S4, the adjustment of the position and posture of the gate (10) includes horizontal adjustment, vertical adjustment, angle adjustment and multi-point contact adjustment.

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