Self-adaptive anti-heeling oversize floating gate driving device and method

Abstract

The invention provides a self-adaptive anti-heeling oversize floating gate driving device and method. The self-adaptive anti-heeling oversize floating gate driving device comprises a connecting support arm, a driving system, an anti-heeling system and a rail system. The connecting support arm comprises a triangular truss, the vertex of one side is fixedly connected with the two banks through center spherical hinges, the two vertexes of the other side are hinged to the floating gate through door connecting support hinges, and four sets of pushing sliding blocks are symmetrically arranged on the two sides of the connecting support arm. The driving system comprises a frame, a driving mechanism, an exposed gear and a horizontal guide wheel; a driving system supporting wheel and a horizontal elastic support are arranged at the bottom of the frame; the anti-heeling system comprises a left / right side portal frame, a left / right side oil cylinder and a pushing slide rail; the track system comprises a gear ring, a horizontal guide rail and a supporting wheel track which are distributed in an arc shape with the center spherical hinge as the circle center. Rapid, stable and accurate opening and closing operation of the oversize floating gate under the working conditions of long stroke and large load can be achieved.

Description

Technical Field

[0001] The invention relates to the field of water conservancy and hydropower engineering, and in particular to an adaptive anti-heeling super-large floating gate driving device and method. Background Art

[0002] In the field of water conservancy projects, the demand for the construction of extra-large gates is becoming increasingly prominent in order to meet the functional requirements of tide blocking, flood control, and water resource allocation. Especially in the face of complex conditions with wide rivers and deep water, the floating gate design has become a highly concerned solution due to its advantage of significantly reducing the opening and closing capacity. However, once it involves an extra-large floating gate with an opening width of more than 200m, the technical difficulties faced during its design, construction, and construction are enormous.

[0003] This type of super-large floating gate has extremely high requirements for the drive system. It not only has to cope with huge loads, but also needs to meet the operation requirements of long strokes, and will be subjected to complex and variable hydraulic loads during operation. At the same time, since the water flow resistance of the floating gate is located underwater during operation, the drive system is usually located above the water surface for easy maintenance and repair. Therefore, the overturning moment needs to be balanced by the anti-overturning moment. The current mainstream gate drive technology, such as hydraulic hoists and connecting rod hoists, has been successfully applied in many water conservancy projects. For example, the miter gates of the Three Gorges ship locks use hydraulic opening and closing, and the miter gates of the Gezhouba No. 2 ship lock use connecting rod hoists. However, they are unable to cope with such stringent drive requirements of super-large floating gates. Summary of the invention

[0004] The purpose of the present invention is to provide an adaptive anti-heeling extra-large floating gate driving device and method, which can realize fast, smooth and accurate opening and closing operations of extra-large floating gates under long stroke and large load conditions, and solve the technical problems such as the need to adapt to the floating and sinking movement of the extra-large floating gate during operation, and the heeling moment caused by the driving force and water flow resistance not being at the same height.

[0005] An adaptive anti-heeling extra-large floating gate driving device, comprising:

[0006] The connecting arm comprises a triangular truss, wherein the vertices on one side of the triangular truss are fixedly connected to both sides through a central ball joint, and the two vertices on the other side are hinged to the floating gate through a gate support hinge; four sets of push sliders are symmetrically arranged on both sides of the connecting arm for transmitting the driving load;

[0007] The driving system includes a frame, a driving mechanism disposed on the frame, an open gear drivingly connected to the driving mechanism, and a horizontal guide wheel disposed on the other side of the open gear, and a driving system supporting wheel and a horizontal elastic support are disposed at the bottom of the frame;

[0008] The anti-roll system includes a left / right mast, a left / right oil cylinder and a push slide rail; the left / right oil cylinder is connected through a cross oil circuit to form a force couple balance structure, the piston rod of the left / right oil cylinder is hinged to the connecting arm, and the hinge direction is orthogonal to the hinge direction of the top of the mast and the cylinder body; two sets of push slide rails are respectively provided on the inner side pillars of the left / right mast, which are used for contacting and transmitting force with the push slide block, and the push slide rail and the push slide block are slidably matched, and the bottom of the left / right mast is provided with an anti-roll system wheel group support seat for installing the anti-roll system support wheel;

[0009] The track system includes a gear ring, a horizontal guide rail and a support wheel track, all of which are distributed in an arc with the central ball joint as the center; the gear ring is meshed with the open gear, the support wheel track carries the support wheel of the drive system and the support wheel of the anti-roll system, and the horizontal guide wheel is in rolling cooperation with the horizontal guide rail.

[0010] Furthermore, the gear ring, horizontal guide rail and support wheel track are all quarter arcs.

[0011] Furthermore, the driving mechanism includes a motor, a coupling, a working brake, and a reducer. A motor rack for mounting the motor is provided on the frame. The motor is connected to the reducer through a coupling. A brake disc and a working brake are provided on the coupling. An open gear is provided at the end of the reducer.

[0012] Furthermore, the horizontal elastic support includes an elastic rubber pad and a metal support plate, wherein the elastic rubber pad is in contact with the left / right side door frame of the anti-roll system.

[0013] Furthermore, the left / right side oil cylinders are both double-rod oil cylinders, and the upper and lower cavity cross-sections are the same.

[0014] Furthermore, the connection mode of the left / right cylinder cross oil circuit is: the upper cavity of the left cylinder is connected to the lower cavity of the right cylinder through an oil pipe, and the lower cavity of the left cylinder is connected to the upper cavity of the right cylinder through an oil pipe.

[0015] An adaptive anti-roll driving method based on the above device comprises the following steps:

[0016] S1. Pre-floating stage: The floating gate is drained and floated, and the connecting arm is driven to rotate around the central ball joint through the gate support hinge. The piston rods of the left / right cylinders rise synchronously, and the push slider slides along the push slide rail to the driving position;

[0017] S2. Driving stage: The working brake in the driving system is disengaged from the brake disc, and the motor output torque is transmitted to the gear ring through the coupling and reducer, and the open gear provides driving force. The driving system support wheel rolls along the support wheel track, and the frame moves in a circle along the support wheel track. The load is transmitted to the anti-rolling system through the horizontal elastic support, and the anti-rolling system then transmits the driving force to the floating gate;

[0018] S3. Anti-roll control: When the gate tilts, the cross oil circuit automatically balances the pressure difference between the left and right cylinders to generate an anti-roll moment M;

[0019] S4. Braking stage: When the floating gate approaches the end point of opening and closing, the motor switches to the power generation braking mode, the working brake applies the braking torque, and the braking load is transmitted to the connecting arm and the floating gate through the horizontal elastic support and the anti-roll system. Finally, the floating gate is filled with water and sinks to complete the opening and closing.

[0020] Furthermore, in step S3, the anti-heeling moment M satisfies:

[0021] M=F q *ΔH=ΔF*L=k*Δh

[0022] where F q is the driving force, ΔH is the height difference between the driving force and the equivalent resistance of the floating valve, ΔF is the pressure difference of the cylinder, L is the distance between the cylinders, k is the system stiffness coefficient, and Δh is the heel displacement.

[0023] Furthermore, the operating curve of the drive system in step S2 is:

[0024] The total duration of the acceleration phase is 60s, and the acceleration is 0.00089~0.00139deg / s²;

[0025] The speed in the uniform stage is 0.0536~0.0833deg / s;

[0026] The total duration of the deceleration phase is 180s, and the acceleration is -0.000462~-0.000298deg / s²;

[0027] The total opening and closing time is 20~30 minutes.

[0028] Furthermore, the control range of the anti-roll moment M is 0-139359 kN·m, the tolerance of the anti-roll cylinder is ≤10 mm, and the heel angle compensation accuracy is ≤0.05°.

[0029] Compared with the existing gate driving device, the innovation of the present invention lies in:

[0030] 1. The driving device of the present invention is provided with an anti-rolling system, which can effectively provide an adaptive anti-rolling force couple through the oil cylinder arranged in the cross circuit, and adapt to the floating and sinking movement during the operation of the floating gate, thereby greatly improving the safety and reliability of the gate operation and reducing the risk of heeling caused by factors such as wind, waves and currents.

[0031] 2. The driving device of the present invention is provided with a driving system and an anti-rolling system, in which a horizontal elastic support is arranged to provide buffering. Meanwhile, the driving force is in the horizontal direction, while the anti-rolling force is in the vertical direction. Therefore, the driving system is not easily affected by external loads, and can ensure the gate to operate quickly, accurately and smoothly.

[0032] 3. The reasonable design and coordinated work of the drive system and the anti-roll system, combined with the structural setting of the track system, enable the drive device to adapt to different door arrangements and different operating conditions, and has strong versatility and adjustability.

[0033] 4. Reasonable planning of the operating curve can select different operating times according to actual needs, realize rapid start and close operation, and improve the operating efficiency of the water conservancy project. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a schematic diagram of the overall arrangement of a driving device for an extra-large floating gate according to the present invention;

[0035] Figure 2 This is a schematic diagram of the connecting arm structure of the present invention;

[0036] Figure 3 It is a schematic diagram of the structure of the drive system of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the anti-heeling system of the present invention;

[0038] Figure 5 It is a schematic diagram of the horizontal elastic support structure of the present invention;

[0039] Figure 6 It is a structural schematic diagram of the track system of the present invention;

[0040] Figure 7 This is a schematic diagram of the floating and sinking principle of the adaptive gate of the anti-heeling system of the present invention;

[0041] Figure 8 This is the anti-rolling principle diagram of the anti-rolling system of the present invention;

[0042] Fig. 9 It is a schematic diagram of the operation curve of the present invention.

[0043] The reference numerals in the figures are as follows:

[0044] 1-Connecting arm; 2-Drive system; 3-Anti-rolling system; 4-Track system;

[0045] 101-center ball hinge; 102-triangular truss; 103-pushing slider; 104-door support hinge;

[0046] 201-frame; 202-motor; 203-coupling; 204-working brake; 205-speed reducer; 206-horizontal elastic support; 207-drive system wheel group support seat; 208-drive system support wheel; 209-open gear; 210-horizontal guide wheel; 211-guide wheel support seat;

[0047] 301-left mast; 302-left cylinder; 303-truss; 304-right cylinder; 305-right mast; 306-pushing rail; 307-anti-roll system wheel support seat; 308-anti-roll system support wheel;

[0048] 401-gear ring; 402-horizontal guide rail; 403-support wheel track; 404-track platform; 405-mounting plate; 406-box beam;

[0049] 206-1 elastic rubber pad; 206-2 metal support plate. DETAILED DESCRIPTION

[0050] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. It should be pointed out and emphasized that in the embodiment, the drive device is set up for a double-opening floating gate as an example, and it can also be arranged according to a single-opening floating gate; the travel of the drive system is a 90° arc, which can also be adjusted according to the needs of the gate type; the drive system uses 4 groups of drive units for example, and the number of drive units can be increased or decreased according to the opening and closing capacity of the floating gate.

[0051] like Figures 1 to 6 As shown, an embodiment of the present invention provides an adaptive anti-rolling extra-large floating gate driving device, including a connecting arm 1, a driving system 2, an anti-rolling system 3, and a track system 4.

[0052] like Figure 1 As shown, the connecting arm 1 includes a triangular truss 102, one vertex of the triangular truss 102 is installed on the ball joint support provided on both sides, and the two vertices on the other side are connected to the floating gate through the support hinge. The two side arms of the connecting arm 1 pass through the two side portals of the anti-rolling system 3, and the driving system 2 is nested in the two side portals of the anti-rolling system 3. The driving system 2 and the heeling system 3 are installed on the track system 4.

[0053] like Figure 2As shown, the connecting arm 1 is provided with a central ball joint 101, which is installed on the ball joint supports arranged on both sides, and can realize circular motion around the central ball joint and adapt to the longitudinal swing of the gate. The connecting arm 1 structure is composed of a triangular truss 102 to ensure the rigidity of the arm, and the connecting arm 1 is connected to the floating gate through the gate hinge 104. The two side arms of the connecting arm 1 are each provided with two sets of push sliders 103, which are used to transfer the driving load from the driving system 2 and the anti-rolling system 3 to the connecting arm 1, and finally drive the floating gate.

[0054] like Figure 3 As shown, the driving system includes a frame 201, a motor 202, a coupling 203, a working brake 204, a reducer 205, an open gear 209 and a horizontal guide wheel 210. The frame 201 is provided with a motor frame for installing the motor 202. The output shaft of the motor 202 is connected to the reducer 205 through the coupling 203, wherein the coupling 203 is provided with a brake disc and a working brake 204, and the working brake 204 can provide braking force during operation. An open gear 209 is provided at the end of the reducer 205, which meshes with the ring gear 401 in the track system 4 to provide driving force for the opening and closing of the gate. A horizontal guide wheel 210 is provided on the other side of the gear 209, which can roll on the horizontal guide rail 402 to ensure that the meshing relationship between the open gear 209 and the ring gear 401 is not affected by sudden loads such as wind, waves, and water flow. The horizontal guide wheel 210 is installed on the frame 201 through a guide wheel support seat 211. A driving system wheel support seat 207 is provided at the bottom of the frame 201 for mounting a driving system support wheel 208, and is mounted on the support wheel track 403 of the track system 4. Two sets of horizontal elastic supports 206 are provided at both ends of the frame 201, such as Figure 5 As shown, the horizontal elastic support 206 includes an elastic rubber pad 206-1 and a metal support plate 206-2, wherein the elastic rubber pad 206-1 is in contact with the gantry of the anti-roll system 3, and a buffer can be set between the anti-roll system 3 and the drive system 2 to avoid impact loads under extreme working conditions.

[0055] like Figure 4 As shown, the anti-roll system 3 includes a left gantry 301, a right gantry 305, and a truss 303 connecting the left gantry 301 and the right gantry 305. A support is provided at the top of the left gantry 301 for installing the left oil cylinder 302, and a cross-circuit connection is set with the right oil cylinder 304 provided at the top of the right gantry 305, that is, the upper cavity of the left oil cylinder 302 is connected with the lower cavity of the right oil cylinder 304 through an oil pipe, and the lower cavity of the left oil cylinder 302 is connected with the upper cavity of the right oil cylinder 304 through an oil pipe. The left oil cylinder 302 and the right oil cylinder 304 are both double-rod oil cylinders, and the upper and lower cavity sections are the same. The piston rods of the left oil cylinder 302 and the right oil cylinder 304 are hinged to the connecting arm 1, and the hinge direction thereof is orthogonal to the hinge direction of the top of the gantry and the cylinder body.

[0056] The cross-circuit hydraulic cylinders can move up and down freely synchronously. Figure 7 As shown, when the piston rods on both sides are pulled downward, the hydraulic oil in the lower cavity of the left cylinder 302 is pressurized to flow to the upper cavity of the right cylinder 304, and the hydraulic oil in the lower cavity of the right cylinder 304 is pressurized to flow synchronously to the upper cavity of the left cylinder 302, realizing the function of synchronous movement to adapt to the floating and sinking movement during the operation of the floating gate. The stroke tolerance of the anti-rolling cylinder is ≤10mm, and the heel angle compensation accuracy of the floating gate is ≤0.05°

[0057] In addition, the cross-circuit cylinders can provide adaptive anti-heeling force. Figure 8 As shown, when a heeling force occurs during operation, that is, the cylinders on both sides are subjected to equal reverse forces to balance the heeling force couple, taking the example of the cylinder rod of the left cylinder 302 being subjected to downward pulling force and the cylinder rod of the right cylinder 304 being subjected to upward pressure. The cylinder rod of the left cylinder 302 has a downward movement trend, and the cylinder rod of the right cylinder 304 has an upward movement trend. At this time, the hydraulic oil in the lower cavity of the left cylinder 302 flows to the upper cavity of the right cylinder 304, and at the same time, the hydraulic oil in the upper cavity of the right cylinder 304 flows to the lower cavity of the left cylinder 302. Since the liquid is incompressible, the cylinder self-locks to provide an anti-heeling moment, and can adaptively provide an anti-heeling moment in the range of 0-139359kN·m.

[0058] Two sets of push rails 306 are respectively provided on the inner pillars of the left gantry 301 and the right gantry 305, which are used to contact and transmit force with the push slider 103. At the same time, the push slider 103 can slide up and down on the push rails 306 to adapt to the ups and downs of the floating gate during operation. The bottom of the left gantry 301 and the right gantry 305 is provided with an anti-rolling system wheel group support seat 307, which is used to install the anti-rolling system support wheel 308 and is installed on the support wheel track 403 of the track system 4.

[0059] like Figure 6 As shown, the track system 4 includes 401, a horizontal guide rail 402, a support wheel track 403, a track platform 404, a mounting base plate 405, and a box beam 406. The mounting base plate 405 is arranged on the track platform 404, the box beam 406 is welded to the mounting base plate 405 and connected with bolts embedded on the track platform 404, and the gear ring 401 and the horizontal guide rail 402 are welded and mounted on both sides of the box beam 406. Support wheel tracks 403 are arranged on both sides of the gear ring 401 and the horizontal guide rail 402 for mounting the support wheels of the drive system 2 and the anti-roll system 3. The gear ring 401, the horizontal guide rail 402, and the support wheel track 403 are all quarter arcs, and the center of the circle is located at the center ball joint 101.

[0060] In order to illustrate the implementation method of the present invention, the embodiment of the present invention takes 4 groups of driving units as an example, and technical solutions using other numbers of driving units should also fall within the scope of the claims of the present invention.

[0061] The running curve is as follows Fig. 9 As shown, the operation mode of 20 minutes or 30 minutes can be adopted according to the use requirements and working conditions. Taking 20 minutes as an example, the initial operation process is the acceleration stage of 60 seconds, and the acceleration is 0.00139 deg / s 2 The uniform motion speed in the middle section is 0.0833 deg / s, and the final section is a deceleration stage of 180s with an acceleration of -0.00046 deg / s 2 . It can realize rapid opening and closing operation within 20 minutes.

[0062] Before the floating gate is closed, it needs to be drained and floated, and the bottom of the gate is separated from the bottom sill and is in a floating state. At this time, the buoyancy of the gate is transmitted to the connecting arm 1 through the connecting door support hinge 104, and the connecting arm 1 rotates around the central ball joint 101 and floats. The left cylinder 302 and the right cylinder 304 are respectively connected to the two sides of the connecting arm 1, and the piston rods of the two cylinders rise synchronously under the upward force of the connecting arm 1. At this time, the push slider 103 slides synchronously on the push rail 306 to reach the driving position.

[0063] When the gate floats to the driving station, the working brakes 204 of each group of drive units in the drive system 2 are disengaged from the brake disc, and the output torque of the motor 202 is transmitted to the input end of the reducer 205 through the coupling 203. The torque is output through the open gear 209 at the end of the reducer 205 and transmitted to the gear ring 401 on the track platform 404 to provide driving force. The support wheel 208 of the drive system rolls along the support wheel track 403, and the four groups of drive units synchronize the frame 201 to make a circular motion around the central ball joint 101. The horizontal elastic support 206 on the end face of the frame 201 drives the anti-rolling system 3 after buffering. The push rail 306 of the anti-rolling system 3 contacts the push slider 103 on the connecting arm 1 and transmits the driving force to the floating gate.

[0064] During operation, sudden loads caused by wind, waves, and currents can cause the gate to sink or float. At the same time, the driving force elevation is higher than the water flow resistance elevation, causing an overturning moment. The upper and lower cavities of the left cylinder 302 and the upper and lower cavities of the right cylinder 304 are cross-connected, providing an anti-heeling moment M while also adapting to the sinking and floating movement of the gate, ensuring safe and reliable operation of the gate. The anti-heeling moment M satisfies:

[0065] M=F q *ΔH=ΔF*L=k*Δh

[0066] where F q is the driving force, ΔH is the height difference between the driving force and the equivalent resistance of the floating valve, ΔF is the pressure difference of the cylinder, L is the distance between the cylinders, k is the system stiffness coefficient, and Δh is the heel displacement.

[0067] The control range of the anti-roll moment M is 0~139359kN·m, the tolerance of the anti-roll cylinder is ≤10mm, and the heel angle compensation accuracy is ≤0.05°

[0068] When the floating gate is about to run to the closing position, the motor 202 enters the power generation state, and its torque is transmitted to the reducer 205 through the coupling 203, and then transmitted to the gear ring 401 by the open gear 209 at the end of the reducer 205 to provide holding force. The four sets of drive units on the frame 201 brake synchronously, and the horizontal elastic support 206 at the other end of the frame 201 transmits the braking load to the anti-roll system 3 after buffering, and the other side push rail 306 and the push slider 103 transmit the braking load to the connecting arm 1 and the gate. When the gate is about to run to the closing position, the floating gate is filled with water and sinks. At this time, the left cylinder 302 and the right cylinder 304 of the anti-roll system 3 descend with the connecting arm 1 until the bottom of the gate is at the bottom sill.

[0069] The operation process of the driving device during the opening process of the floating gate is opposite to the closing operation mode.

[0070] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. An adaptive anti-heeling super-large floating gate driving device, characterized in that: include: The connecting arm (1) comprises a triangular truss (102), wherein the vertices on one side of the triangular truss (102) are fixedly connected to both sides via a central ball joint (101), and the two vertices on the other side are hinged to the floating gate via a gate support hinge (104); four groups of push sliders (103) are symmetrically arranged on both sides of the connecting arm (1) for transmitting a driving load; A driving system (2) comprising a vehicle frame (201), a driving mechanism disposed on the vehicle frame (201), an open gear (209) drivingly connected to the driving mechanism, and a horizontal guide wheel (210) disposed on the other side of the open gear (209); a driving system support wheel (208) and a horizontal elastic support (206) are disposed at the bottom of the vehicle frame (201); The anti-roll system (3) comprises a left / right door frame (301, 305), a left / right oil cylinder (302, 304) and a push slide rail (306); the left / right oil cylinder (302, 304) are connected via a cross oil circuit to form a force couple balance structure; the piston rod of the left / right oil cylinder (302, 304) is hinged to the connecting arm (1), and the hinge direction is orthogonal to the hinge direction of the top of the door frame and the cylinder body; two sets of push slide rails (306) are respectively provided on the inner side pillars of the left / right door frame (301, 305) for contacting and transmitting force with the push slide block (103), and the push slide rail (306) and the push slide block (103) are slidably matched; the bottom of the left / right door frame (301, 305) is provided with an anti-roll system wheel group support seat (307) for installing the anti-roll system support wheel (308); The track system (4) includes a gear ring (401), a horizontal guide rail (402) and a support wheel track (403), all of which are distributed in an arc with the central ball joint (101) as the center of the circle; the gear ring (401) is meshed with the open gear (209), the support wheel track (403) carries the drive system support wheel (208) and the anti-roll system support wheel (308), and the horizontal guide wheel (210) and the horizontal guide rail (402) are in rolling cooperation.

2. The device according to claim 1, characterized in that The gear ring (401), the horizontal guide rail (402) and the support wheel track (403) are all in the shape of a quarter arc.

3. The device according to claim 1, characterized in that The driving mechanism comprises a motor (202), a coupling (203), a working brake (204), and a reducer (205); a motor rack for mounting the motor (201) is provided on the vehicle frame (201); the motor (202) is connected to the reducer (205) via the coupling (203); a brake disc and a working brake (204) are provided on the coupling (203); and an open gear (209) is provided at the end of the reducer (205).

4. The device according to claim 2, characterized in that The horizontal elastic support (206) comprises an elastic rubber pad (206-1) and a metal support plate (206-2), wherein the elastic rubber pad (206-1) is in contact with the left / right side door frame (301, 305) of the anti-roll system (3).

5. The device according to claim 1, characterized in that The left / right side oil cylinders (302, 304) are both double-rod oil cylinders, and the upper and lower cavity cross-sections are the same.

6. The device according to claim 1, characterized in that The connection mode of the cross oil circuits of the left / right oil cylinders (302, 304) is as follows: the upper cavity of the left oil cylinder (302) is connected to the lower cavity of the right oil cylinder (304) via an oil pipe, and the lower cavity of the left oil cylinder (302) is connected to the upper cavity of the right oil cylinder (304) via an oil pipe.

7. An adaptive anti-roll driving method based on the device of any one of claims 1 to 6, characterized in that: The following steps are involved: S1. Pre-floating stage: The floating gate is drained and floated, and the connecting arm (1) is driven to rotate around the central ball joint (101) through the gate support hinge (104), the piston rods of the left / right cylinders (302, 304) rise synchronously, and the push slider (103) slides along the push slide rail (306) to the driving position; S2. Driving stage: the working brake (204) in the driving system is disengaged from the brake disc, the output torque of the motor (202) is transmitted to the ring gear (401) through the coupling (203) and the reducer (205) by the open gear (209) to provide driving force, the driving system support wheel (208) rolls along the support wheel track (403), the frame (201) performs a circular motion along the support wheel track (403), and the load is transmitted to the anti-rolling system (3) through the horizontal elastic support (206), and the anti-rolling system (3) then transmits the driving force to the floating gate; S3. Adaptive anti-roll control: When the gate has a tendency to roll, the cross oil circuit automatically balances the pressure difference between the left and right cylinders to generate an anti-roll moment M; S4. Braking stage: When the floating gate approaches the end point of opening and closing, the motor (202) switches to the power generation braking mode, the working brake (204) applies the braking torque, and the braking load is transmitted to the connecting arm (1) and the floating gate through the horizontal elastic support (206) and the anti-roll system (3). Finally, the floating gate is filled with water and sinks to complete the opening and closing.

8. The method according to claim 7, characterized in that In step S3, the anti-heeling moment M satisfies: M=F q *ΔH=ΔF*L=k*Δh where F q is the driving force, ΔH is the height difference between the driving force and the equivalent resistance of the floating valve, ΔF is the pressure difference of the cylinder, L is the distance between the cylinders, k is the system stiffness coefficient, and Δh is the heel displacement.

9. The method according to claim 7, characterized in that: The operating curve of the drive system in step S2 is: The total duration of the acceleration phase is 60s, and the acceleration is 0.00089~0.00139deg / s²; The speed in the uniform stage is 0.0536~0.0833deg / s; The total duration of the deceleration phase is 180s, and the acceleration is -0.000462~-0.000298deg / s²; The total opening and closing time is 20~30 minutes.

10. The method according to claim 7, characterized in that The control range of the anti-roll moment M is 0-139359 kN·m, the tolerance of the anti-roll cylinder is ≤10 mm, and the heel angle compensation accuracy is ≤0.05°.

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