Precise-positioning gate plugging and throwing integrated device and use method

Abstract

The invention discloses a precisely-positioned gate plugging and throwing integrated device and a throwing method.The precisely-positioned gate plugging and throwing integrated device comprises an underwater visualization device and a throwing device, the underwater visualization device comprises an underwater robot, the underwater robot is connected with a Wifi base station through a signal cable, the Wifi base station is arranged on a throwing platform, and the throwing platform is connected with the underwater robot through a signal cable. The underwater robot is wirelessly connected with the remote controller through the Wifi base station; the throwing device comprises an electric lifting device, the electric lifting device comprises a lifting platform, the lifting platform is fixedly connected with a hopper, a discharge port of the hopper is provided with a switch valve, the switch valve is detachably connected with the upper end of a steel wire hose, and the lower end of the steel wire hose is provided with a balancing weight and a suction cup type electromagnet; material loss caused by water flow dispersion or insufficient water flow attraction force is avoided, and the leaking stoppage effect is effectively improved.

Description

Technical Field

[0001] The invention relates to the field of water conservancy and hydropower engineering, and in particular to a precisely positioned gate blocking and throwing integrated device and a use method thereof. Background Art

[0002] The gate is an important part of the metal structure of the water conservancy and hydropower project, and its safe and stable operation is related to the normal operation of the entire project. After a long period of operation, the gates of the power station often encounter water leakage problems. The gate leakage will seriously delay the progress of the unit maintenance. If the leakage is large, it will also cause the maintenance pump to be damaged due to frequent start and stop. Therefore, the gate leakage plugging work is of great significance to the normal operation and maintenance of the hydropower station unit. However, in the past, the gate leakage plugging was mainly used on the gate platform, pouring and throwing from the water surface of the gate. When the plugging material falls to the vicinity of the leaking point by its own weight, it is brought to the vicinity of the leaking point under the action of the horizontal flow velocity caused by the change of the flow field caused by the leakage, and gradually gathers to achieve the plugging. However, in this process, the vertical height difference between the casting platform and the leaking point is large, and the plugging material has to travel a long distance in the water flow in front of the gate. The water leakage causes significant turbulence in front of the gate, causing a large amount of plugging material to be dispersed to a distance during the falling process in the water flow, and most of the plugging material cannot reach the plugging point. At the same time, due to the limited attraction of the water flow near the leaking point, the size of the plugging material and the size of the leaking point are random, so even if the plugging material reaches the plugging point, it still loses a lot, which results in poor final plugging effect. For this reason, some companies have developed underwater robots pre-installed with plugging materials for underwater fixed-point feeding, but the underwater robots have limited load-bearing capacity, and the amount of plugging material pre-installed at a single time is small, which results in limited plugging effect.

[0003] In summary, in the prior art, the plugging material is easily dispersed by the water flow during throwing, and the plugging material loss is large due to insufficient water flow attraction, resulting in poor plugging effect, and the underwater robot has limited load capacity, resulting in limited plugging effect. Therefore, it is necessary to develop a plugging throwing device and method of use that has precise positioning, fixed-point throwing, large plugging material supply, and easy operation to complete the gate plugging work. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned shortcomings and provide an integrated device for gate plugging and casting with precise positioning and a method of use, so as to solve the technical problems in the prior art that the plugging materials are easily dispersed by the water flow during casting, resulting in a large loss of plugging materials due to insufficient water flow attraction, resulting in poor plugging effect, and the limited load-bearing capacity of underwater robots resulting in limited plugging effect.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: a precisely positioned gate blocking and casting integrated device, including an underwater visualization device and a casting device, the underwater visualization device includes an underwater robot, the underwater robot is connected to a Wifi base station through a signal cable, the Wifi base station is arranged on a casting platform, and the underwater robot is wirelessly connected to a remote control through the Wifi base station; the casting device includes an electric lifting device, the electric lifting device includes a lifting platform, a hopper is fixedly connected to the lifting platform, a switch valve is arranged on the discharge port of the hopper, the switch valve is detachably connected to the upper end of a steel wire hose, and a counterweight block and a suction cup electromagnet are arranged at the lower end of the steel wire hose.

[0006] Preferably, a light bulb and a rotatable camera are provided inside the underwater robot.

[0007] Preferably, the electric lifting device is an electric scaffolding structure, and the hopper is installed on the lifting platform through a fixing frame.

[0008] Preferably, the lifting platform is provided with a reserved hole for the steel wire hose to pass through.

[0009] Preferably, the switch valve is a stainless steel flange ball valve, a flange is provided on the discharge port of the hopper, and one end of the switch valve is connected to the flange on the discharge port of the hopper by bolts; the other end of the switch valve is provided with a flange joint steel pipe, and the steel wire hose is detachably connected to the flange joint steel pipe by a clamp.

[0010] Preferably, the steel wire hose is a hose with multiple sections that can be detachably connected.

[0011] Preferably, a moving wheel mechanism with a brake is also provided at the bottom end of the electric lifting device.

[0012] In addition, the present invention also discloses a method for using the above-mentioned precisely positioned gate blocking and throwing integrated device, comprising the following steps: Step 1: First, determine the possible location of the leak according to the leak behind the gate, place the underwater robot in the water in front of the gate, and move the underwater robot to the front of the gate to observe the possible leak area. Determine the specific location of the leak through the real-time picture wirelessly transmitted to the remote controller, and repeat the operation until all leaks are found; Step 2: Calculate and determine the required length of the steel hose according to the location of the lowest leaking point, select a steel hose of appropriate length for splicing, use a PVC hose as a transition section to cover the outside of the steel hose at the connection of the steel hose, and use a stainless steel clamp to tighten the connection; Step 3: Lower the lifting platform of the electric lifting device to the bottom so that the hopper is at the lowest point; place the hopper firmly on the lifting platform, and secure the fixing frames on the four sides of the hopper to the lifting platform with hemp rope or steel wire rope; Step 4: Align the flange welded at the hopper outlet with the upper flange of the switch valve, place a rubber gasket in the middle, connect and fix the two with bolts, close the switch valve, and fill the hopper with plugging materials; Step 5. Raise the lifting platform to a suitable height, connect the upper end of the steel hose to the flange joint steel pipe of the switch valve with a stainless steel clamp and fix it, and fix the hemp rope along the outer side wall of the steel hose, and tie a counterweight block to the bottom of the hemp rope; Step 6: Lower the steel hose into the water, and make it continuously descend to the vicinity of the leaking point under the action of the bottom counterweight, and use an underwater robot to monitor the descending state of the steel hose in real time until the steel hose descends to a predetermined height; Step 7. According to the underwater position of the end of the steel hose, the electric lifting device is continuously adjusted on the casting platform until the end of the steel hose approaches the predetermined position, and the suction cup electromagnet is powered so that the suction cup electromagnet adsorbs the steel hose on the steel gate. According to the real-time video transmitted by the underwater robot, the state of the outlet of the end of the steel hose is judged. If the casting requirement is not met, the suction cup electromagnet is disconnected, the steel hose is adjusted, and the suction cup electromagnet is powered again. This is repeated until the outlet state of the end of the steel hose meets the casting requirement. Step 8: Open the switch valve to allow the plugging material inside the hopper to flow down smoothly. The plugging material flows down to the leaking point along the steel hose, and the gate plugging work begins under the action of the water flow; Step 9. After the throwing is completed, close the switch valve, turn off the suction cup electromagnet, lower the lifting platform, and complete the throwing operation; Step 10: According to the relative height difference of the next leaking point, adjust the length of the wire hose entering the water, and perform the plugging and throwing process on the next leaking point. Preferably, the specific process of step ten is as follows: according to the relative height difference of the next leaking point, replace the steel wire hose with a corresponding length, and repeat steps five to nine.

[0013] Preferably, the specific process of step 10 is as follows: Since the required length of the steel hose is calculated and determined according to the position of the lowest leaking point in step 2, there are the following two situations: When performing plugging and throwing operations at other higher leaking points, it is only necessary to withdraw the electric lifting device on the throwing platform to shorten the length of the steel hose entering the water until the end of the steel hose is close to the predetermined position, and repeat steps seven to nine; When performing plugging and casting operations at other lower leaking points, it is only necessary to move the electric lifting device forward on the casting platform to lengthen the length of the wire hose entering the water until the end of the wire hose approaches the predetermined position, and repeat steps seven to nine.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. In the initial stage, the underwater robot of the present invention can grasp the water flow situation upstream of the gate and the approximate location of the leakage point by means of visualization, and can also cooperate with the subsequent lowering process of the steel hose to monitor the lowering position of the steel hose in real time to determine whether it has reached the set position.

[0015] 2. The present invention realizes controllable change in the overall length of the steel wire hose, which can meet the situation that there may be more than one leakage point and the heights of each leakage point are different during throwing and plugging.

[0016] 3. The present invention uses a counterweight block and a suction cup type electromagnet, which are hung at the bottom of the steel wire hose, so as to prevent the steel wire hose from swinging under the action of water flow near the leaking point, thereby improving the casting effect.

[0017] 4. The hopper of the present invention can continuously provide a large amount of plugging material during the plugging process, thereby avoiding the plugging failure caused by insufficient amount of plugging material.

[0018] 5. The electric lifting device of the present invention solves the stability and portability problems of low-position loading and moving and high-position unloading.

[0019] 6. The invention provides an integrated device for precisely positioning gate plugging and throwing, which can be used to find leaks with the help of an underwater robot. With the cooperation of the underwater robot, a steel hose can be accurately lowered to the leaking location, and plugging materials can be continuously lowered through a large-volume hopper, thereby avoiding material loss caused by being dispersed by water flow or insufficient water flow attraction, and effectively improving the plugging effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of an underwater visualization device in the integrated device for precisely positioning gate blocking and throwing according to the present invention; Figure 2 It is a schematic diagram of the structure of the throwing device in the gate blocking throwing integrated device for precise positioning of the present invention; Figure 3 This is a rendering of the use effect of the throwing device in the gate blocking throwing integrated device with precise positioning of the present invention on the throwing platform; Figure 4 This is a diagram showing the effect of the underwater robot and the steel wire hose used in the integrated device for precisely positioning the gate blocking and throwing according to the present invention; In the figure, 1. Underwater robot; 2. Signal cable; 3. Wifi base station; 4. Remote control; 5. Electric lifting device; 5-1. Lifting platform; 6. Hopper; 7. Fixed frame; 8. Switch valve; 9. Steel wire hose; 10. Counterweight; 11. Suction cup electromagnet; 12. Casting platform. DETAILED DESCRIPTION

[0021] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0022] like Figures 1 to 3 As shown, this embodiment discloses a precisely positioned gate blocking and throwing integrated device and a method of use, including an underwater visualization device and a throwing device. The underwater visualization device includes an underwater robot 1, which is connected to a Wifi base station 3 via a signal cable 2. The Wifi base station 3 is arranged on a throwing platform 12. The underwater robot 1 is wirelessly connected to a remote controller 4 via a wireless signal from the Wifi base station 3. Lights and a rotating camera are arranged inside the underwater robot 1. The underwater robot 1 can observe the underwater environment and transmit the video image to the remote controller 4. At the same time, the remote controller 4 can also control the movement of the underwater robot 1.

[0023] The throwing device includes an electric lifting device 5, the bottom end of which is provided with a moving wheel mechanism with a brake, and the electric lifting device 5 can move on the throwing platform 12. The electric lifting device 5 includes a lifting platform 5-1, to which a hopper 6 is fixedly connected, the volume of the hopper 6 is 200L, the hopper 6 is arranged on a fixed frame 7, and the fixed frame 7 is arranged on the lifting platform 5-1. The lifting platform 5-1 is provided with a reserved hole for the steel wire hose 9 to pass through. The inner diameter of the steel wire hose 9 is 102mm, and the wall thickness is 6mm. A switch valve 8 is provided on the discharge port of the hopper 6, and the switch valve 8 is detachably connected to the steel wire hose 9. A counterweight 10 and a suction cup electromagnet 11 are provided at the end of the steel wire hose 9. Hemp ropes of the same length are fixed along the sides of the steel wire hose 9. The counterweight 10 is tied to the bottom of the hemp rope and fixed under the steel wire hose 9, which prevents the steel wire hose 9 from swinging in the turbulent area near the leakage point and affecting the movement direction of the thrown material in the water; the attached suction cup electromagnet 11 can be attached to the steel gate after being energized to further fix the discharge port position at the bottom of the steel wire hose 9.

[0024] In this embodiment, the switch valve 8 is a DN100 stainless steel flange ball valve, and is equipped with a rubber pad and fixing bolts. A DN100 stainless steel flange is provided on the discharge port of the hopper 6, and the switch valve 8 is connected to the flange on the discharge port of the hopper 6 by bolts. A flange joint steel pipe is provided on the switch valve 8, and the outer diameter of the steel pipe is 101.5 mm. The steel wire hose 9 is disassembled and connected to the flange joint steel pipe on the switch valve 8 by a clamp.

[0025] In this embodiment, the steel hose 9 is a multi-section detachable hose. A PVC hose with an inner diameter of 120 mm is used as a transition section at the connection of the steel hose 9 and is sleeved on the outside of the steel hose 9, and a stainless steel clamp is used to make it tightly connected.

[0026] A method for using a precisely positioned gate blocking and throwing integrated device, the steps of which are as follows: Step 1: first determine the possible location of the leaking point according to the leaking situation behind the gate, place the underwater robot 1 in the water area in front of the gate, use the remote controller 4 to control the underwater robot 1 to move to the front of the gate to observe the possible leaking area, and determine the specific location of the leaking point through the real-time picture wirelessly transmitted to the remote controller 4, and repeat until all the leaking points are found; Step 2: Calculate and determine the required length of the steel hose 9 according to the location of the lowest leaking point, select the steel hose 9 of appropriate length for splicing, use a PVC hose as a transition section at the connection of the steel hose 9 and put it on the outside of the steel hose 9, and use a stainless steel clamp to tighten the connection; Step 3: Lower the lifting platform 5-1 of the electric lifting device 5 to the bottom, so that the hopper 6 is at the lowest point. Place the hopper 6 firmly on the lifting platform 5-1, and fix the fixing frames 7 on the four sides of the large-volume hopper 6 on the lifting platform 5-1 with twine or steel wire rope; Step 4: Align the welded flange at the discharge port of the large-volume hopper 6 with the upper flange of the switch valve 8, place a rubber gasket in the middle, connect and fix the two with bolts, close the switch valve 8, and fill the hopper with plugging material, which should not exceed 3 / 4 of the hopper; Step 5: Raise the lifting platform 5-1 to a suitable height, connect the steel hose 9 to the flange joint steel pipe of the switch valve 8 with a stainless steel clamp and fix it, and fix the hemp rope along the outer side wall of the steel hose 9, and tie a counterweight 10 to the bottom of the hemp rope; Step 6: lower the steel hose 9 into the water, and make it continuously descend to the vicinity of the water leakage point under the action of the bottom counterweight block 10, and use the underwater robot 1 to monitor the descending state of the steel hose 9 in real time until the steel hose 9 descends to a predetermined height; Step 7. According to the underwater position of the end of the steel hose 9, the electric lifting device 5 is continuously adjusted on the casting platform 12 until the end of the steel hose 9 is close to the predetermined position, and the suction cup electromagnet 11 is powered so that the suction cup electromagnet 11 adsorbs the steel hose 9 on the steel gate. According to the real-time video transmission of the underwater robot 1, the state of the outlet of the end of the steel hose 10 is judged. If the casting requirement is not met, the suction cup electromagnet 11 is disconnected, the steel hose 9 is adjusted, and the suction cup electromagnet 11 is powered again, and this is repeated until the outlet state of the end of the steel hose 9 meets the casting requirement; Step 8, open the switch valve 8, so that the plugging material inside the hopper can flow down smoothly, the plugging material flows down to the leaking point along the steel hose 9, and the gate plugging work starts under the action of the water flow; Step 9: After the throwing is completed, close the switch valve 8, close the suction cup electromagnet 11, lower the lifting platform 5-1, and complete the throwing operation; Step 10: According to the relative height difference of the next leaking point, adjust the length of the steel hose entering the water, and perform the plugging and throwing process on the next leaking point. Specifically, the following two implementation methods can be adopted: Implementation 1: The specific process of step 10 is as follows: according to the relative height difference of the next leaking point, replace the steel hose 9 of the corresponding length, and repeat steps 5 to 9. This implementation requires replacing the steel hose 9 of other corresponding lengths each time.

[0027] Implementation method 2: The specific process of step 10 is as follows: Since the required length of the steel hose is calculated based on the position of the lowest leaking point in step 2, there are two situations: When performing plugging and throwing operations at other higher leaking points, it is only necessary to withdraw the electric lifting device on the throwing platform to shorten the length of the steel hose entering the water until the end of the steel hose is close to the predetermined position, and repeat steps seven to nine; When performing plugging and casting operations at other lower leaking points, it is only necessary to move the electric lifting device forward on the casting platform to adjust the length of the steel hose entering the water until the end of the steel hose approaches the predetermined position, and repeat steps seven to nine. This embodiment does not require additional replacement of the steel hose 9, and can be performed by directly adjusting the position of the electric lifting device on the casting platform, further improving the use efficiency of the entire device and saving the amount of steel hose.

[0028] The above embodiments are only preferred technical solutions of the present invention and should not be regarded as limiting the present invention. The protection scope of the present invention shall be the technical solutions recorded in the claims, including equivalent replacement solutions of the technical features in the technical solutions recorded in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A precisely positioned gate blocking and throwing integrated device, comprising an underwater visualization device and a throwing device, characterized in that: The underwater visualization device comprises an underwater robot (1), the underwater robot (1) being connected to a Wifi base station (3) via a signal cable (2), the Wifi base station (3) being arranged on a casting platform (12), the underwater robot (1) being wirelessly connected to a remote controller (4) via the Wifi base station (3); the casting device comprises an electric lifting device (5), the electric lifting device (5) comprising a lifting platform (5-1), a hopper (6) being fixedly connected to the lifting platform (5-1), a switch valve (8) being arranged at a material outlet of the hopper (6), the switch valve (8) being detachably connected to an upper end of a steel hose (9), and a counterweight block (10) and a suction cup type electromagnet (11) being arranged at a lower end of the steel hose (9).

2. According to claim 1, a precisely positioned gate blocking and throwing integrated device is characterized by: A light bulb and a rotatable camera are arranged inside the underwater robot (1).

3. According to claim 1, a precisely positioned gate blocking and throwing integrated device is characterized by: The electric lifting device (5) is an electric scaffolding structure, and the hopper (6) is installed on the lifting platform (5-1) via a fixing frame (7).

4. According to claim 1, a precisely positioned gate blocking and throwing integrated device is characterized by: The lifting platform (5-1) is provided with a reserved hole for the steel wire hose (9) to pass through.

5. According to claim 1, a precisely positioned gate blocking and throwing integrated device is characterized by: The switch valve (8) is a stainless steel flange ball valve. A flange is provided on the discharge port of the hopper (6). One end of the switch valve (8) is connected to the flange on the discharge port of the hopper (6) by bolts. The other end of the switch valve (8) is provided with a flange joint steel pipe. The steel wire hose (9) is detachably connected to the flange joint steel pipe by a clamp.

6. The precisely positioned gate blocking and throwing integrated device according to claim 1 is characterized by: The steel wire hose (9) is a hose with multiple sections that can be detachably connected.

7. The precisely positioned gate blocking and throwing integrated device according to claim 1 is characterized by: The bottom end of the electric lifting device (5) is also provided with a moving wheel mechanism with a brake.

8. A method for using the precisely positioned gate blocking and throwing integrated device according to any one of claims 1 to 7, characterized in that: The following steps are involved: Step 1: first determine the possible location of the leaking point based on the water leakage behind the gate, place the underwater robot (1) in the water area in front of the gate, operate the underwater robot (1) to move in front of the gate to observe the possible leaking area, and determine the specific location of the leaking point through the real-time picture wirelessly transmitted to the remote controller (4), and repeat the operation until all the leaking points are found; Step 2: according to the location of the lowest water leakage point, the required length of the steel hose (9) is calculated and determined, and a steel hose (9) of suitable length is selected for splicing. A PVC hose is used as a transition section at the connection of the steel hose (9) and is sleeved on the outside of the steel hose (9), and a stainless steel clamp is used for fastening the connection; Step 3: lower the lifting platform (5-1) of the electric lifting device (5) to the bottom so that the hopper (6) is at the lowest point; firmly place the hopper (6) on the lifting platform (5-1), and firmly fix the fixing frames (7) on the four sides of the hopper (6) on the lifting platform (5-1) with hemp rope or steel wire rope; Step 4: Align the flange welded at the discharge port of the hopper (6) with the upper flange of the switch valve (8), place a rubber gasket in between, connect and fix the two with bolts, close the switch valve (8), and fill the inside of the hopper (6) with plugging material; Step 5: Raise the lifting platform (5-1) to a suitable height, connect the upper end of the steel hose (9) to the flange joint steel pipe of the switch valve (8) with a stainless steel clamp and fix it, and fix the hemp rope along the outer side wall of the steel hose (9), and tie a counterweight (10) to the bottom of the hemp rope; Step 6: lower the steel hose (9) into the water, so that it continuously descends to the vicinity of the water leakage point under the action of the bottom counterweight (10), and use the underwater robot (1) to monitor the descending state of the steel hose (9) in real time until the steel hose (9) descends to a predetermined height; Step 7: According to the underwater position of the end of the steel hose (9), the electric lifting device (5) is continuously adjusted on the casting platform (12) until the end of the steel hose (9) approaches the predetermined position, and the suction cup electromagnet (11) is powered so that the suction cup electromagnet (11) adsorbs the steel hose (9) onto the steel gate. According to the real-time video transmitted by the underwater robot (1), the state of the outlet of the end of the steel hose (10) is determined. If the casting requirement is not met, the suction cup electromagnet (11) is disconnected, the steel hose (9) is adjusted, and the suction cup electromagnet (11) is powered again. This is repeated until the outlet state of the end of the steel hose (9) meets the casting requirement. Step 8: Open the switch valve (8) to allow the plugging material inside the hopper to flow down smoothly. The plugging material flows down along the steel hose (9) to the leaking point, and the gate plugging work begins under the action of the water flow; Step 9: After the throwing is completed, close the switch valve (8), turn off the suction cup electromagnet (11), lower the lifting platform (5-1), and complete the throwing operation; Step 10: According to the relative height difference of the next water leakage point, adjust the length of the steel hose (9) entering the water, and perform the plugging and throwing process on the next water leakage point.

9. The method for using the precisely positioned gate blocking and throwing integrated device according to claim 8, characterized in that: The specific process of step ten is as follows: according to the relative height difference of the next water leakage point, replace the steel wire hose (9) with a corresponding length, and repeat steps five to nine.

10. The method for using the precisely positioned gate blocking and throwing integrated device according to claim 8, characterized in that: The specific process of step 10 is as follows: Since the required length of the steel hose (9) is determined by calculation based on the position of the lowest leaking point in step 2, there are the following two situations: When performing plugging and throwing operations at other higher leaking points, it is only necessary to withdraw the electric lifting device (5) on the throwing platform (12) to adjust the length of the steel hose (9) entering the water to shorten until the end of the steel hose (9) approaches the predetermined position, and repeat steps seven to nine. When performing plugging and throwing operations at other lower leaking points, it is only necessary to move the electric lifting device (5) forward on the throwing platform (12) to adjust the length of the steel hose (9) entering the water to increase until the end of the steel hose (9) approaches the predetermined position, and repeat steps seven to nine.

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