An extra-large floating gate driving device and method for adaptive anti-rolling

Abstract

The present invention provides a driving device and method for an extra-large floating gate with self-adaptive anti-heeling. The device includes a connecting support arm, a driving system, an anti-heeling system, and a track system. The connecting support arm includes a triangular truss. One vertex on one side is fixedly connected to both banks through a central spherical hinge, and the other two vertices on the other side are hinged to the floating gate through connecting gate hinges. Four groups of pushing sliders are symmetrically arranged on both sides of the connecting support arm. The driving system includes a vehicle frame, a driving mechanism, an open gear, and horizontal guide wheels. The bottom of the vehicle frame is provided with driving system support wheels and is configured with horizontal elastic supports. The anti-heeling system includes left / right side gantries, left / right side oil cylinders, and pushing slide rails. 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 spherical hinge as the center. The present invention can achieve fast, stable, and precise opening and closing operations of the extra-large floating gate under long-stroke and large-load conditions.

Description

Technical Field

[0001] The present invention relates to the field of water conservancy and hydropower engineering, and specifically to a driving device and method for a super-large floating gate with self-adaptive anti-heeling. Background Art

[0002] In the field of water conservancy projects, to meet the functional requirements such as tide blocking, flood control, and water resource allocation, the construction demand for super-large gates is becoming increasingly prominent. Especially when facing the complex conditions of wide river channels and large water depths, the design of floating gates has become a highly concerned solution due to its advantage of significantly reducing the opening and closing capacity. However, once it comes to super-large floating gates with an orifice width exceeding 200m, the technical difficulties faced in their design, construction, and operation are extremely huge.

[0003] Such super-large floating gates have extremely high requirements for the driving system. It not only has to cope with huge loads, but also meet the operation requirements of long strokes, and will bear complex and variable hydraulic loads during operation. At the same time, since the water flow resistance of the floating gate is underwater during operation and the driving system is usually located above the water surface for easy maintenance and repair, an overturning moment needs to be balanced by an anti-overturning moment. The current mainstream gate driving technologies, such as hydraulic hoists and link hoists, although they have been successfully applied in many water conservancy projects, such as the hydraulic opening and closing form is adopted for the miter gates of the Three Gorges ship lock, and the link hoist is used for the miter gates of the No. 2 ship lock of Gezhouba Dam, they are all difficult to meet the extremely demanding driving requirements of super-large floating gates. Summary of the Invention

[0004] The purpose of the present invention is to provide a driving device and method for a super-large floating gate with self-adaptive anti-heeling, which can realize the fast, stable, and accurate opening and closing operations of super-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 gate during the operation of super-large floating gates, and the heeling moment caused by the driving force and the water flow resistance not being at the same height.

[0005] A driving device for a super-large floating gate with self-adaptive anti-heeling includes:

[0006] A connecting support arm, including a triangular truss. One vertex on one side of the triangular truss is fixedly connected to both banks through a central spherical hinge, and the other two vertices on the other side are hinged to the floating gate through connecting gate hinges; Four groups of jacking sliders are symmetrically arranged on both sides of the connecting support arm for transmitting driving loads;

[0007] A driving system, including a vehicle frame, a driving mechanism arranged on the vehicle frame, an open gear drivingly connected to the driving mechanism, and a horizontal guide wheel arranged on the other side of the open gear. Driving system support wheels are provided at the bottom of the vehicle frame and are configured with horizontal elastic supports;

[0008] Anti - heeling system, including left / right gantries, left / right cylinders and thrust sliders; the left / right cylinders are connected through a cross - oil circuit to form a couple - balance structure, the piston rods of the left / right cylinders are hinged to the connecting arms, and the hinging direction is orthogonal to the hinging direction between the top of the gantry and the cylinder body; two sets of thrust sliders are respectively arranged on the inner side columns of the left / right gantries for contacting and transmitting force with the thrust sliders, and the thrust sliders are in sliding fit with the thrust sliders. The bottom of the left / right gantries is provided with anti - heeling system wheel group support seats for installing anti - heeling system support wheels;

[0009] Track system, including a gear ring, a horizontal guide rail and a support wheel track, all of which are distributed in an arc with the central spherical hinge as the center; the gear ring meshes with the open - type gear, the support wheel track bears the drive system support wheels and the anti - heeling system support wheels, and the horizontal guide wheels are in rolling fit with the horizontal guide rail.

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

[0011] Furthermore, the drive mechanism includes a motor, a coupling, a working brake, a reducer. There is a motor frame on the vehicle frame for installing the motor. The motor is connected to the reducer through the coupling. A brake disc and a working brake are arranged on the coupling, and an open - type gear is arranged at the end of the reducer.

[0012] Furthermore, the horizontal elastic support includes an elastic rubber pad and a metal support plate, where the elastic rubber pad contacts the left / right gantries of the anti - heeling system.

[0013] Furthermore, the left / right cylinders are both double - rod cylinders with the same cross - sectional area of the upper and lower cavities.

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

[0015] An adaptive anti - heeling driving method based on the above - mentioned device, including the following steps:

[0016] S1. Pre - floating stage: The floating gate drains water and floats up, drives the connecting arm to rotate around the central spherical hinge through the connecting - door hinge, the piston rods of the left / right cylinders rise synchronously, and the thrust sliders slide along the thrust sliders to the driving position;

[0017] S2. Driving stage: The working brake in the drive system disengages from the brake disc, the motor outputs torque, which is transmitted through the coupling, the reducer, and is transmitted to the gear ring by the open - type gear to provide driving force. The drive system support wheels roll along the support wheel track, the vehicle frame makes a circular motion along the support wheel track, the load is transmitted to the anti - heeling system through the horizontal elastic support, and the anti - heeling 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 / right cylinders, generating an anti - roll moment M;

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

[0020] Furthermore, the anti - roll moment M in step S3 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 gate, ΔF is the pressure difference between the cylinders, L is the cylinder spacing, k is the system stiffness coefficient, and Δh is the roll displacement.

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

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

[0025] The speed in the constant - speed stage is 0.0536 - 0.0833 deg / s;

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

[0027] The total opening and closing duration is 20 - 30 min.

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

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

[0030] 1. The drive device of the present invention is provided with an anti - roll system. Through the cylinders arranged in the cross - circuit, it can effectively provide an adaptive anti - roll couple, and at the same time adapt to the floating and sinking movements during the operation of the floating gate, greatly improving the safety and reliability of the gate operation and reducing the roll risk caused by factors such as wind, wave, and current.

[0031] 2. The driving device of the present invention is provided with a driving system and an anti-rolling system, between which a horizontal elastic support is provided to offer buffering. At the same time, 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, ensuring the fast, accurate and stable operation of the gate.

[0032] 3. The reasonable design and coordinated operation of the driving system and the anti-rolling system, combined with the structural arrangement of the track system, enable the driving device to adapt to different gate type layouts and different operating conditions requirements, with strong versatility and adjustability.

[0033] 4. The reasonable planning of the operation curve allows for the selection of different operation times according to actual needs, achieving fast opening and closing operation and improving the operation efficiency of the water conservancy project. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0035] Figure 2 is the structural schematic diagram of the connecting support arm of the present invention;

[0036] Figure 3 is the structural schematic diagram of the driving system of the present invention;

[0037] Figure 4 is the structural schematic diagram of the anti-rolling system of the present invention;

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

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

[0040] Figure 7 is the schematic diagram of the principle of the anti-rolling system of the present invention adapting to the floating and sinking of the gate;

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

[0042] Figure 9 is the schematic diagram of the operation curve of the present invention.

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

[0044] 1 - connecting support arm; 2 - driving system; 3 - anti-rolling system; 4 - track system;

[0045] 101 - central spherical hinge; 102 - triangular truss; 103 - push slider; 104 - connecting hinge of the gate;

[0046] 201 - Frame; 202 - Motor; 203 - Coupling; 204 - Working brake; 205 - Reducer; 206 - Horizontal elastic support; 207 - Support seat for drive system wheel set; 208 - Support wheel for drive system; 209 - Open gear; 210 - Horizontal guide wheel; 211 - Guide wheel support seat

[0047] 301 - Left gantry; 302 - Left oil cylinder; 303 - Truss; 304 - Right oil cylinder; 305 - Right gantry; 306 - Thrust slide rail; 307 - Support seat for anti - roll system wheel set; 308 - Support wheel for anti - roll system

[0048] 401 - Gear ring; 402 - Horizontal guide rail; 403 - Support wheel track; 404 - Track platform; 405 - Mounting plate; 406 - Box girder

[0049] 206 - 1 Elastic rubber pad; 206 - 2 Metal support plate Detailed implementation mode

[0050] To make the objectives, 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 with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention. It should be pointed out and emphasized that in the embodiments, the drive device is set with a double - leaf floating gate as an example, and it can also be arranged according to a single - leaf floating gate; the stroke of the drive system is a 90° arc, and it can also be adjusted according to the needs of the gate type; 4 groups of drive units are used to illustrate the drive system, and the number of drive units can be increased or decreased according to the opening and closing capacity of the floating gate

[0051] As Figures 1 to 6 shown, the embodiments of the present invention provide a driving device for an extra - large floating gate with self - adaptive anti - roll, including a connecting support arm 1, a drive system 2, an anti - roll system 3, and a track system 4

[0052] As Figure 1 shown, the connecting support arm 1 includes a triangular truss 102. One vertex on one side of the triangular truss 102 is installed on the spherical hinge supports arranged on both banks, and the other two vertices on the other side are connected to the floating gate through branch hinges. The two side arms of the connecting support arm 1 pass through the two side gantries of the anti - roll system 3, and the drive system 2 is nested in the two side gantries of the anti - roll system 3. The drive system 2 and the roll - over system 3 are installed on the track system 4 in a common - rail manner

[0053] As 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 oil cylinders arranged in a cross-circuit can achieve synchronous free up and down movement. For example Figure 7 As shown, when the piston rods on both sides are subjected to downward pulling forces, the hydraulic oil in the lower cavity of the left oil cylinder 302 is compressed and flows towards the upper cavity of the right oil cylinder 304, and the hydraulic oil in the lower cavity of the right oil cylinder 304 is compressed and flows towards the upper cavity of the left oil cylinder 302 synchronously, realizing the function of synchronous movement to adapt to the floating and sinking movements during the operation of the floating gate. The stroke tolerance of the anti-heeling oil cylinder ≤ 10 mm, and the compensation accuracy of the floating gate heeling angle ≤ 0.05°

[0057] In addition, the oil cylinders arranged in a cross-circuit can also provide an adaptive anti-heeling moment couple. For example Figure 8 As shown, when a heeling force appears during the operation, that is, the oil cylinders on both sides are subjected to equal and opposite forces to balance the heeling moment couple. Taking the piston rod of the left oil cylinder 302 being subjected to a downward pulling force and the piston rod of the right oil cylinder 304 being subjected to an upward pressure as an example. The piston rod of the left oil cylinder 302 has a downward movement tendency, and the piston rod of the right oil cylinder 304 has an upward movement tendency. At this time, the hydraulic oil in the lower cavity of the left oil cylinder 302 flows towards the upper cavity of the right oil cylinder 304, and at the same time, the hydraulic oil in the upper cavity of the right oil cylinder 304 flows towards the lower cavity of the left oil cylinder 302. Due to the incompressibility of the liquid, the oil cylinders are self-locked to provide an anti-heeling moment, and an anti-heeling moment in the range of 0 - 139359 kN·m can be provided adaptively.

[0058] Two groups of push rails 306 are respectively arranged on the inner side struts of the left gantry 301 and the right gantry 305, which are used to contact and transmit force with the push sliders 103. At the same time, the push sliders 103 can slide up and down on the push rails 306 to adapt to the floating and sinking during the operation of the floating gate. The bottoms of the left gantry 301 and the right gantry 305 are provided with anti-heeling system wheel set supports 307, which are used to install the anti-heeling system support wheels 308 and are installed on the support wheel rails 403 of the track system 4.

[0059] For example Figure 6 As shown, the track system 4 includes a gear ring 401, a horizontal guide rail 402, a support wheel rail 403, a track platform 404, a mounting base plate 405, and a box girder 406. The mounting base plate 405 is arranged on the track platform 404, and the box girder 406 is welded to the mounting base plate 405 and connected by embedded bolts on the track platform 404. The gear ring 401 and the horizontal guide rail 402 are respectively welded and installed on both sides of the box girder 406. Support wheel rails 403 are respectively arranged on both sides of the gear ring 401 and the horizontal guide rail 402, which are used to install the support wheels of the drive system 2 and the anti-heeling system 3. The gear ring 401, the horizontal guide rail 402, and the support wheel rail 403 are all quarter arcs, and the centers are located at the central spherical hinge 101.

[0060] To illustrate the implementation method of the present invention, the embodiments of the present invention are exemplified by setting 4 groups of drive units. The technical solutions using other numbers of drive units should also fall within the scope of the claims of the present invention.

[0061] The operating curve is as Figure 9 shown. The 20 - minute or 30 - minute operating mode can be adopted according to the usage requirements and working conditions. Taking 20 minutes as an example, the initial operating process is an acceleration stage of 60 s with an acceleration of 0.00139 deg / s 2 , the constant - speed movement speed in the middle section is 0.0833 deg / s, and the final section is a deceleration stage of 180 s with an acceleration of - 0.00046 deg / s 2 . It can achieve rapid opening and closing operation within 20 minutes.

[0062] Before the floating gate closes, the floating gate needs to drain water and float up, 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 through the connecting hinge 104 of the gate to the connecting arm 1, and the connecting arm 1 rotates around the central spherical hinge 101 to float up. The left - hand oil cylinder 302 and the right - hand oil cylinder 304 are respectively connected to both sides of the connecting arm 1, and the piston rods of the two oil cylinders rise synchronously under the upward acting force of the connecting arm 1. At this time, the push slider 103 slides synchronously on the push slide rail 306 to reach the driving position.

[0063] When the gate floats up to the driving position, the working brakes 204 of each driving unit in the driving system 2 disengage from the brake disc, and the torque output by the motor 202 is transmitted to the input end of the reducer 205 through the coupling 203. The torque is output through the open - type 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 wheels 208 of its driving system roll along the support wheel track 403, and the 4 - group driving units synchronously drive the vehicle frame 201 to make a circular motion around the central spherical hinge 101. The horizontal elastic support 206 on the end face of the vehicle frame 201 drives the anti - rolling system 3 after buffering. The push slide rail 306 of the anti - rolling system 3 described contacts the push slider 103 on the connecting arm 1 and transmits the driving force to the floating gate.

[0064] During the operation, the sudden loads caused by wind, waves, and currents will cause the gate to sink and float, and at the same time, the elevation of the driving force is higher than the elevation of the water flow resistance, resulting in an overturning moment. The upper and lower cavities of the left - hand oil cylinder 302 and the upper and lower cavities of the right - hand oil cylinder 304 are cross - connected, which can provide an anti - rolling moment M and can also adapt to the sinking and floating movement of the gate to ensure the safe and reliable operation of the gate. Among them, the anti - rolling 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 gate, ΔF is the pressure difference of the oil cylinder, L is the distance between the oil cylinders, k is the system stiffness coefficient, and Δh is the amount of rolling displacement.

[0067] Among them, the regulation range of the anti-heeling moment M is 0 to 139,359 kN·m, the tolerance of the anti-heeling cylinder is ≤ 10 mm, and the accuracy of the heeling angle compensation is ≤ 0.05°.

[0068] When the floating gate is about to operate to the end position of closing the door, the motor 202 enters the power generation state, and its torque is transmitted to the reducer 205 through the coupling 203, and is transmitted to the gear ring 401 by the open gear 209 at the end of the reducer 205 to provide the holding force. The 4 sets of drive units on the vehicle frame 201 are braked synchronously. The horizontal elastic support 206 at the other end of the vehicle frame 201 transmits the braking load to the anti-heeling system 3 after buffering, and the braking load is transmitted to the connecting support arm 1 and the gate by the other side push rail 306 and the push slider 103. When the gate is about to operate to the end position of closing the door, the floating gate is filled with water and sinks. At this time, the left cylinder 302 and the right cylinder 304 of the anti-heeling system 3 descend with the connecting support arm 1 until the bottom of the gate falls on the sill.

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

[0070] The above is only the specific implementation manner 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 those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to 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 (202) 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 Among them, 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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