Gate righting device and operation mode

Abstract

The application relates to a gate righting device and operation mode, and belongs to the technical field of AGV. The method is characterized in that a righting wheel is arranged at the front end of the righting mechanism, an electromagnet is closely arranged beside the righting wheel, and the attracting surface of the electromagnet faces the direction of the gate righted by the righting wheel. The attracting surface of the electromagnet is slightly lower than the profile surface of the righting wheel, so that the electromagnet cannot directly contact the gate. In order to improve reliability, the electromagnet is arranged between the two wheels, and the outer profile of the electromagnet wheel is designed as a curved surface to reduce resistance. Through cooperation of a central controller and a laser range finder, a fuzzy logic control algorithm is used to adjust the position of a hydraulic rod and the suction force of the electromagnet, so that the gate can be kept stable during hoisting, and shaking and deviation can be avoided. The application has the advantages of improved safety, improved stability, enhanced adaptability, simple structure, low cost and all-weather operation capability, and is especially suitable for hoisting operation of large gates such as hydropower stations.

Description

Technical Field

[0001] This invention relates to the field of gate control technology, and more specifically to a gate straightening device and its operation mode. Background Technology

[0002] In the existing process of hoisting large gates, the commonly used methods for straightening are manual assistance and individual straightening wheels. When using manual assistance, operators usually use their hands or indirect tools (such as long poles, hooks, etc.) to straighten the gate. In actual operation, the following defects exist:

[0003] 1. Operators need to be close to the large gate being hoisted, which poses a high safety risk and is prone to accidental injury;

[0004] 2. Manual operation relies on the operator's experience and skills, which can easily lead to errors and affect lifting efficiency;

[0005] 3. Manual operation makes it difficult to achieve high-precision alignment, which may cause the gate to sway or shift during hoisting.

[0006] While using a single straightening wheel to straighten the gate can provide some straightening in a certain direction, the following main problems still exist:

[0007] 1. A single straightening wheel can only apply force to the gate in one direction, and cannot fully control the movement of the gate, causing the gate to still sway during the hoisting process;

[0008] 2. A single centering wheel is difficult to handle complex lifting environments, especially when the gate shape is irregular or the surface is uneven, and the effect is not good. Summary of the Invention

[0009] In view of the technical problems existing in the background art, the present invention provides a gate straightening device and its operation mode. By using this device, gate straightening can be effectively achieved remotely and safely, facilitating unmanned operation of the entire process. This device also enables all-weather operation, especially in emergency situations where manual operation is impossible.

[0010] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0011] A gate straightening device includes a central controller, a telescopic hydraulic rod, and a straightening wheel. The telescopic hydraulic rod has a double-arm structure and is arranged parallel to one side of the gate. The inlet of a solenoid valve is connected to an external hydraulic system, and the 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 via a first data line.

[0012] In a preferred embodiment, laser rangefinders are installed on both sides of the telescopic hydraulic rod, and the laser rangefinders are connected to the central controller via a second data line.

[0013] In a preferred embodiment, a centering wheel is installed at the end of the telescopic hydraulic rod, and an electromagnet is installed close to the side of the centering wheel. The attraction surface of the electromagnet is close to the gate direction, and the attraction surface of the electromagnet is slightly lower than the outline of the centering wheel.

[0014] In the preferred embodiment, the central controller is internally equipped with a data processing unit, an actuator control unit, and an electromagnet control unit.

[0015] In a preferred embodiment, the operation of the gate straightening device includes the following steps:

[0016] S1. Ensure power connection. The central controller completes self-test and the telescopic hydraulic rod moves to the initial waiting position.

[0017] S2. The laser rangefinder measures the distance to the gate, and the central controller calculates the position and attitude of the gate.

[0018] S3. The central controller controls the telescopic hydraulic rod to move along a predetermined path to a position close to but not in contact with the gate, and then fine-tunes the position of the telescopic hydraulic rod to ensure that the straightening wheel accurately contacts the edge of the gate;

[0019] S4. The central controller activates the electromagnet to generate sufficient attraction to stably attract the gate. By adjusting the position of the telescopic hydraulic rod and the attraction force of the electromagnet, the gate is ensured to be accurately aligned and stable.

[0020] S5. The central controller sends a signal to the lifting equipment to slowly lower the gate, guiding it smoothly down along the guide wheel and into the inlet slot. Once the gate is fully inside the gate and stable, the electromagnet power is turned off, releasing the gate's attraction, and the telescopic hydraulic rod returns to its initial waiting position.

[0021] In the preferred embodiment, the calculation method for the position and attitude of the gate in S2 is as follows:

[0022] 6.1. Install the laser rangefinders on both sides of the telescopic hydraulic rod on the same vertical line;

[0023] 6.2 Assuming 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);

[0024] 6.2 Since laser rangefinders L1 and L2 are on the same vertical line, i.e., X1=X2; the measuring distances of the laser rangefinders are d1 and d2 respectively;

[0025] 6.3 Therefore, the horizontal position Xg of the gate can be directly taken as the horizontal coordinate of the laser rangefinder; that is, Xg=X1=X2;

[0026] 6.4 The vertical position Yg of the gate can be calculated using the following formula: ;

[0027] 6.5 The tilt angle of the gate can be calculated using the following formula: .

[0028] In the preferred embodiment, in S4, the adjustment of the gate's position and orientation includes horizontal adjustment, vertical adjustment, angle adjustment, and multi-point contact adjustment.

[0029] A gate straightening device and its operating method have the following beneficial effects, including but not limited to the following:

[0030] 1. This invention reduces the risk of human intervention by using remote control and electromagnetic attraction wheels, and provides higher safety, especially in hazardous environments;

[0031] 2. The electromagnetic attraction wheel in this invention can tightly attract the gate, ensuring that the gate remains stable during hoisting, avoiding swaying and deviation, and improving the accuracy and reliability of hoisting;

[0032] 3. This invention can work normally under various environmental conditions, without being limited by weather and light conditions. It is especially suitable for emergency situations. When manual operation is not possible, it can quickly respond and complete the gate straightening task, thus improving the emergency response capability.

[0033] 4. This invention achieves multi-point contact through the combination of multiple centering wheels and electromagnets, ensuring uniform force on the gate in all directions and improving overall stability and reliability. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the operating state of the gate before straightening according to the present invention;

[0035] Figure 2 This is a schematic diagram of the operating status during the gate straightening process of the present invention;

[0036] Figure 3 This is a schematic diagram showing the state of the gate after it has been straightened according to the present invention.

[0037] In the diagram: 1. Central controller; 2. Solenoid valve; 3. Telescopic hydraulic rod; 4. Laser rangefinder; 5. Hydraulic oil pipe; 6. First data line; 7. Second data line; 8. Electromagnet; 9. Centralizing wheel; 10. Gate; 11. Inlet slot. Detailed Implementation

[0038] like Figure 1As 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 and is arranged parallel to one side of the gate 10. The inlet of the solenoid valve 2 is connected to an external hydraulic system, and the 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 via a first data line 6.

[0039] Preferred solutions include Figure 1 As shown, laser rangefinders 4 are installed on both sides of the telescopic hydraulic rod 3, and the laser rangefinders 4 are connected to the central controller 1 via the second data line 7.

[0040] Preferred solutions include Figure 1 As shown, a straightening wheel 9 is installed at the end of the telescopic hydraulic rod 3. An electromagnet 8 is closely attached to the side of the straightening wheel 9. The attraction surface of the electromagnet 8 is close to the direction of 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. The outer contour of the electromagnet 8 is designed as an arc surface to reduce the friction between it and the gate 10.

[0041] Preferred solutions include Figure 1 As shown, the central controller 1 is internally equipped with a data processing unit, an actuator control unit, and an electromagnet control unit; the data processing unit is used to process data from the laser rangefinder, the actuator control unit is used to control the movement of the hydraulic rod according to the processed data, and the electromagnet control unit is used to control the energization state of the electromagnet and the magnitude of its attraction force.

[0042] Example:

[0043] S1. Ensure power connection. The central controller 1 completes self-test and the telescopic hydraulic rod 3 moves to the initial waiting position. In addition, the status of key components such as electromagnet 8, centering wheel 9, and telescopic hydraulic rod 3 should be checked regularly to ensure their good performance and extend the service life of the equipment.

[0044] S2. The laser rangefinder 4 measures the distance to the gate 10, and the central controller 1 calculates the position and orientation of the gate 10; the calculation method for the position and orientation of the gate 1 is as follows:

[0045] 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;

[0046] The horizontal position of its gate 10 rice;

[0047] The horizontal position of its gate 10 rice;

[0048] The tilt angle of its gate 10 ;

[0049] 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.

[0050] S4. The central controller 1 activates the electromagnet 8 to generate sufficient attraction to stably attract the gate 10. By adjusting the position of the telescopic hydraulic rod 3 and the attraction of the electromagnet 8, the gate 10 is adjusted horizontally, vertically, angularly, and through multi-point contact to ensure that the gate 10 is accurately aligned and stable.

[0051] S5. The central controller 1 sends a signal to the lifting equipment to slowly lower the gate 10, so that it descends smoothly along the guide wheel 9 and falls into the inlet slot 11. After the gate 10 is fully in the inlet slot 11 and stable, the power supply of the electromagnet 8 is turned off, the attraction to the gate 10 is released, and the telescopic hydraulic rod 3 returns to the initial waiting position.

[0052] It will be apparent 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 invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention; no reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. An operating mode of a gate straightening device, the 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 set parallel to one side of the gate (10). The inlet of the solenoid valve (2) is connected to the external hydraulic system. The outlet of the solenoid valve (2) is connected to the telescopic hydraulic rod (3) through the hydraulic oil pipe (5). The solenoid valve (2) is connected to the central controller (1) through the first data line (6). Laser rangefinders (4) are installed on both sides of the telescopic hydraulic rod (3), and the laser rangefinders (4) are connected to the central controller (1) via the second data line (7). A straightening wheel (9) is installed at the end of the telescopic hydraulic rod (3). An electromagnet (8) is attached to the side of the straightening wheel (9). The attraction surface of the electromagnet (8) is attached to the direction of the gate (10), and the attraction surface of the electromagnet (8) is lower than the outline of the straightening wheel (9). The operation of this device includes the following steps: S1. Ensure power connection, the central controller (1) completes self-test, 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 attitude 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 attraction to stably attract the gate (10). By adjusting the position of the telescopic hydraulic rod (3) and the attraction of the electromagnet (8), the gate (10) is accurately aligned and stable. S5. The central controller (1) sends a signal to the lifting equipment to slowly lower the gate (10) so that it descends smoothly along the guide wheel (9) and falls into the inlet slot (11). When the gate (10) is fully in the inlet slot (11) and stable, the power supply of the electromagnet (8) is turned off, the attraction on the gate (10) is released, and the telescopic hydraulic rod (3) returns to the initial waiting position. In S2, the calculation method for the position and orientation of the gate (10) is 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 the positions of laser rangefinder (4) L1 and laser rangefinder (4) L2 are (X1, Y1) and (X2, Y2) respectively, the position of 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, i.e., X1=X2; the measuring distances of the laser rangefinder (4) are d1 and d2 respectively; 6.3 Then the horizontal position Xg of the gate (10) can be directly taken as 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 using the following formula: ; 6.5 The tilt angle of the gate (10) can be calculated using the following formula: .

2. The operating mode of the gate straightening device according to claim 1, characterized in that: The central controller (1) is internally equipped with a data processing unit, an actuator control unit, and an electromagnet control unit.

3. The operating mode of the gate straightening device according to claim 1, characterized in that: In S4, the adjustment of the position and orientation of the gate (10) includes horizontal adjustment, vertical adjustment, angle adjustment and multi-point contact adjustment.

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