Gate groove underwater operation platform, device, system, measuring method and machining method

Abstract

The invention relates to the technical field of gate slot underwater measurement, in particular to a gate slot underwater operation platform, device and system, a measurement method and a processing method. The gate slot underwater operation platform can enable a first mounting platform to correspond to any height position of a track of a gate slot to be operated through vertical movement of a truss main body and up-down sliding of the first mounting platform along a vertical guide rail; due to the fact that the first perpendicularity measuring device is arranged and used for measuring the perpendicularity of the vertical guide rail, the perpendicularity of the first installation platform can be obtained, and track perpendicularity measurement can be carried out under the condition that the first installation platform serves as a high-precision measuring datum. And the moving device, the first perpendicularity measuring device and the adjusting and fixing device are all automatic control mechanisms, so that the device can be suitable for underwater operation. The gate groove underwater operation device can realize underwater perpendicularity measurement of a gate groove track; and furthermore, the measured gate groove track can be processed.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater gate slot measurement, and in particular to an underwater gate slot operation platform, a device, a system, a measurement method and a processing method. Background Art

[0002] In water conservancy and hydropower projects, due to adverse factors, the installation accuracy of the gate slot track exceeds the design requirements, which may cause the gate to fail to open and close normally. Therefore, it is necessary to test the working surface (verticality and distortion) of the gate slot track after installation to ensure that the installed gate slot track meets the requirements. If the working surface of the gate slot track after inspection does not meet the requirements, the working surface of the gate slot track needs to be processed.

[0003] The existing gate slot track measurement requirements are relatively high. According to the specifications, the verticality of the working door of the plane gate slot main track installation needs to reach the design value of +2mm to -1mm, and the distortion of the gate slot track working surface is required to be within 2mm. In a waterless state, it is usually possible to use a method of hanging a heavy hammer and manual measurement, and to perform manual polishing on the parts that exceed the installation requirements. For example, the Chinese invention patent with announcement number CN108303072B discloses a measuring device for use in the gate slot installation process, which includes: a longitudinal beam, the outer surface of the longitudinal beam is provided with a side vertical surface for contacting the gate slot; a vertical correction device, the vertical correction device is arranged inside the longitudinal beam and can measure the verticality of the side vertical surface; a spacing measuring device, the spacing measuring device is arranged inside the longitudinal beam, and is used to measure the distance between the side vertical surface and the gate slot. The distance from a measuring point on the surface that matches the surface to the side vertical surface, there are more than two measuring points and the heights are different. It provides a measuring device for the gate slot installation process that can improve the gate slot measurement accuracy and measure the gate slot deformation. After measurement, it is processed by manual grinding so that the gate slot can meet the gate operation requirements. However, in the presence of water, it is necessary to manually install the longitudinal beam underwater so that the side vertical surface of the outer surface of the longitudinal beam contacts the gate slot, and after measurement, it is also necessary to manually process it underwater. This underwater operation is very difficult, so it is difficult to measure and correct the installation accuracy underwater manually. At present, underwater operations mainly rely on divers, but in flowing water or deep water conditions, not only the measurement accuracy is required to be high, but also the implementation is difficult and the risk is extremely high.

[0004] The Chinese patent application with publication number CN118533089A proposes to use a detection device for the side guide rail of the plane gate slot to automatically detect and collect data of the underwater deformation of the side guide rail of the slot. Specifically, the detection device for the side guide rail of the plane gate slot includes a hoist and a plane gate frame that is lifted and lowered vertically. The hoist has a lifting stroke detection device. The lifting and lowering of the plane gate frame is driven by the hoist. The plane gate frame includes side beams located on both sides thereof. A set of detection devices is respectively installed at the bottom of each side beam. Each set of detection devices includes a limit device and a monitoring detector. The limit device includes a slide cylinder, a slide rod and a spring. The slide rod can reciprocate axially in the slide cylinder. The outer end of the slide rod is used to abut the to-be-detected part of the side guide rail of the slot. The spring is arranged at the inner end of the slide rod to play a reset role. The monitoring detector is used to detect the axial displacement data of the slide rod relative to the slide cylinder. The invention can realize the automatic detection and data collection of the underwater deformation of the side guide rail of the slot, and ensure the accuracy, safety and reliability of the detection. The detection device is used to replace manual underwater operations, which is highly safe, accurate, and reliable. The plane gate frame is customized according to the actual size of the orifice, can adapt to the use conditions under different conditions, can act underwater for a long time, and is simple and convenient to operate. However, the device can only detect the width of the gate slot in a single-side gate slot, and the device does not measure and locate according to the accuracy required by the specification, and does not establish a high-precision measurement benchmark for the plane gate slot. It cannot measure the verticality and distortion of the gate slot main rail working surface and the water-stop working door (the left and right gate slots are located in the same plane), and does not solve the installation accuracy correction work of the gate slot track. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the detection device for the side guide rail of the plane gate slot in the prior art, which can only detect the slot width in a single-side slot, and the device does not perform measurement and positioning according to the accuracy required by the specifications, does not establish a high-precision measurement benchmark for the plane gate slot, and cannot be used for underwater measurement of the verticality of the working surface of the main rail of the slot, and provides a gate slot underwater working platform, device, system, measurement method and processing method.

[0006] In a first aspect, the present invention provides a gate slot underwater working platform, comprising:

[0007] A truss body, wherein the truss body has a first direction, a second direction and a vertical direction, wherein the first direction, the second direction and the vertical direction are perpendicular to each other, wherein the truss body comprises a vertical beam, wherein the vertical beam is provided with a positioning groove on the main rail side in the first direction, wherein the portion of the vertical beam provided with the positioning groove in the first direction can be adapted to be arranged in the door slot to be operated, and wherein the positioning groove of the vertical beam on the main rail side is adapted to be positioned with the slideway seat plate of the main rail in the door slot to be operated;

[0008] A moving device, the moving device is arranged on the main rail side and / or the counter rail side of the vertical beam in the first direction, the moving device comprises a vertical guide rail, a feeding mechanism and a first mounting platform, the vertical guide rail is arranged vertically and connected to the corresponding vertical beam, the first mounting platform is slidably connected to the vertical guide rail, and the feeding mechanism can drive the first mounting platform to slide up and down along the vertical guide rail;

[0009] a first verticality measuring device, the first verticality measuring device being arranged on the vertical guide rail, and the first verticality measuring device being used to measure the verticality of the vertical guide rail;

[0010] An adjusting and fixing device, wherein the adjusting and fixing device can fix the truss body to the door slot to be operated and can release the fixing of the truss body and the door slot to be operated;

[0011] The moving device, the first verticality measuring device and the adjusting and fixing device are all automatic control mechanisms.

[0012] In this solution, the first direction can be understood as the upstream and downstream directions of the gate, and the second direction can be understood as the width direction of the gate.

[0013] The door slot underwater working platform described in the present invention has an adjusting and fixing device that can release the fixation of the truss body and the door slot to be operated, so that the truss body can be adjusted in the door slot (including vertical adjustment), thereby making it possible to change the truss body to different heights of the door slot to be operated; by providing a positioning groove on the main rail side of the first direction of the vertical beam, the positioning groove is adapted to be positioned with the slide seat plate of the main rail in the door slot to be operated, so that the accuracy of the installation position of the truss body can be preliminarily guaranteed, and the positioning groove can guide the vertical movement of the truss body, so that the posture change of the truss body after the vertical movement is small; the adjusting and fixing device can fix the truss body to the door slot to be operated, so as to ensure stability when using the moving device; by providing the moving device, it is possible to The feeding mechanism drives the first mounting platform to slide up and down along the vertical guide rail, thereby changing the different vertical heights of the first mounting platform on the vertical beam and changing the different vertical heights of the first mounting platform in the door slot to be operated; through the vertical movement of the truss body and the up and down sliding of the first mounting platform along the vertical guide rail, the first mounting platform can correspond to any height position of the main rail of the door slot to be operated; since a first verticality measuring device is provided, the first verticality measuring device is used to measure the verticality of the vertical guide rail, thereby obtaining the verticality of the first mounting platform, and providing a high-precision measurement reference for the door slot track, so that the verticality of the working surface of the main rail and / or the counter rail can be measured with the first mounting platform as a high-precision measurement reference. The moving device, the first verticality measuring device and the adjusting and fixing device are all automatic control mechanisms, so that they can be applied to underwater operations.

[0014] Preferably, the moving device comprises at least two vertical guide rails, and the at least two vertical guide rails are arranged at intervals along the second direction.

[0015] By arranging at least two vertical beams at intervals in the second direction, the degree of distortion of the first installation platform in the first direction can be determined by measuring the verticalities of the vertical beams at intervals in the second direction.

[0016] Preferably, a water-isolating mechanism is provided on a side of the vertical beam away from the door slot to be operated in the second direction, and the water-isolating mechanism can form an enclosure structure with the corresponding door slot to be operated.

[0017] The water isolation mechanism separates the water flow inside the door slot to be operated from the water flow outside the door slot to be operated, so that the water flow inside the door slot to be operated is in a nearly static state, thereby improving the accuracy of the operation.

[0018] Preferably, the vertical beam is a truss structure, and the water-blocking mechanism includes a water-blocking board and a water-blocking strip. The water-blocking board seals the side of the vertical beam away from the door groove to be operated in the second direction, and the water-blocking strip is arranged outside the bottom side of the water-blocking board and outside the two sides in the first direction. The water-blocking strip arranged outside the two sides in the first direction of the water-blocking board can seal the area between the door groove to be operated and the water-blocking board.

[0019] Preferably, the moving device also includes a first transverse guide rail and a sliding part, the first transverse guide rail is arranged along the second direction, the sliding part is vertically slidably connected to the vertical guide rail, the first transverse guide rail is connected to the sliding part, and the first mounting platform is slidably connected to the first transverse guide rail in the second direction.

[0020] The position of the first mounting platform in the second direction and in the vertical direction can be changed simultaneously.

[0021] Preferably, the first verticality measuring device includes a measuring mounting tube, a plumb bob and a first distance sensor, the measuring mounting tube is vertically arranged and directly connected to the corresponding vertical guide rail, the plumb bob can be vertically suspended in the measuring mounting tube, the first distance sensor is arranged in the lower part of the measuring mounting tube, and the first distance sensor can measure the distance between the plumb bob and the first distance sensor.

[0022] Preferably, the adjusting and fixing device is at least two telescopic support structures, the telescopic support structures can be telescoped in a first direction, and the telescopic support structures are vertically spaced apart on the vertical beam.

[0023] Preferably, the vertical beam is also provided with a positioning groove on the counter-rail side in the first direction, and the positioning groove on the counter-rail side of the vertical beam is used to adapt and position with the guide plate of the counter-rail in the door slot to be operated, and the adjusting and fixing device is arranged on the main rail side of the vertical beam, and the counter-rail side of the vertical beam can utilize the positioning groove to abut against the guide plate of the counter-rail. By only fixing the main rail side, the operation is simpler and more working space can be provided for the main rail side.

[0024] Preferably, the feeding mechanism includes an idler wheel, a chain, a driving mechanism, a driving wheel and a driven wheel, the chain is arranged in a closed loop in the vertical direction, the driving wheel is arranged at the upper end of the vertical beam, the driven wheel is arranged at the lower end of the vertical beam, the upper and lower ends of the chain are respectively wound around the driving wheel and the driven wheel, the driving mechanism is arranged at the top of the vertical beam, the driving mechanism is used to drive the driving wheel to rotate, the idler wheel is meshed with the chain, and the idler wheel is connected to the first mounting platform.

[0025] Preferably, the truss body includes the vertical beams located on both sides of the second direction, the vertical beams are used to adapt to the door slots to be operated on both sides of the second direction, and the vertical beams on each side are respectively provided with the moving device. The verticality of the door slots on both sides can be measured.

[0026] Preferably, the truss body includes a crossbeam, which is arranged along the second direction and connected between the vertical beams on both sides. The crossbeam can connect the two vertical beams into a whole, reduce the distortion of the vertical beams on both sides in the first direction, and thus facilitate the measurement of the distortion of the vertical beams on both sides.

[0027] Preferably, the cross beam is connected between the tops of the vertical beams on both sides, and the cross beam can serve as a passage from the vertical beam on one side to the vertical beam on the other side.

[0028] In a second aspect, the present invention provides a gate slot underwater working device, comprising the gate slot underwater working platform, and further comprising:

[0029] The measuring device comprises a second verticality measuring device, the second verticality measuring device is installed on the first installation platform of the gate slot underwater operation device, and the second verticality measuring device is used to automatically measure the verticality of the main rail of the gate slot to be operated.

[0030] The invention provides a gate slot underwater operation device, which can realize underwater verticality measurement of a gate slot main rail.

[0031] Preferably, the second verticality measuring device comprises at least two second distance sensors spaced apart along the second direction, and the second distance sensors are used to measure the distance from the working surface of the main rail or the counter rail of the door slot to be operated.

[0032] The present invention provides a door slot underwater working device, wherein the second verticality measuring device comprises at least two second distance sensors spaced apart along a second direction, so that the working surface of the main rail or the counter rail can be measured with higher measurement accuracy.

[0033] Preferably, it also includes a mechanical processing module, which is installed on the first installation platform and is used for automatically processing and correcting the working surface of the main rail or the counter rail of the door slot to be operated.

[0034] The invention provides a door slot underwater operation device, which can also process the working surface of the measured main rail or counter rail.

[0035] Preferably, the machining module is a tool set, the tool set includes a milling cutter or a grinding wheel, and the milling cutter or the grinding wheel faces the first direction.

[0036] Milling or grinding is used.

[0037] Preferably, the tool group also includes a tool seat and a second transverse guide rail, the tool seat is installed on the first mounting platform, the second transverse guide rail is arranged on the tool seat, the second transverse guide rail is arranged along the first direction, and the milling cutter or grinding wheel is slidably connected to the second transverse guide rail.

[0038] The position of the milling cutter or the grinding wheel in the first direction can be changed so that it can be adapted to different machining distances.

[0039] Preferably, when the truss body of the gate slot underwater working platform includes the vertical beams located on both sides of the second direction, the gate slot underwater working device also includes a sill measuring device, the sill measuring device includes a second mounting platform and a plurality of third distance sensors, the second mounting platform is connected to the lower part of the vertical beams on both sides, all the third distance sensors are installed on the second mounting platform, and the third distance sensors are used to automatically measure the distance to the sill.

[0040] The sill measuring device can measure the flatness of the top surface of the sill.

[0041] In a third aspect, the present invention provides a gate slot underwater working system, comprising a crane and the gate slot underwater working device, wherein the crane is capable of vertically moving the gate slot underwater working device.

[0042] The gate slot underwater operation system of the present invention can utilize a crane to vertically hoist the gate slot underwater operation device onto the bottom sill of the underwater gate slot, and can also change the height of the gate slot underwater operation device in the gate slot.

[0043] Preferably, the crane comprises a hoist located at the top of the gate slot to be operated, and the hoist is connected to the truss body of the gate slot underwater operating device through a sling.

[0044] In a fourth aspect, the present invention provides a method for underwater measurement of a gate slot, which uses the gate slot underwater operation system to perform measurement, comprising the following steps:

[0045] S1: hoist the underwater working device for the gate slot onto the sill by means of a crane; and make the vertical beam of the underwater working device for the gate slot be located between the main rail and the counter rail of the gate slot to be measured; and make the positioning groove on the main rail side of the vertical beam fit the slideway seat plate corresponding to the main rail;

[0046] S2: using a first verticality measuring device to measure the verticality of the vertical guide rail; and using an adjusting and fixing device to fix the truss body to the door slot;

[0047] S3: operating the moving device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality of the working surface of the main rail and / or the counter rail until the moving device drives the installation platform upward to the top of the travel of the moving device and stops;

[0048] S4: release the fixing of the adjusting fixing device on the truss body, and the crane lifts the door slot underwater working device up by one stroke;

[0049] S5: Repeat steps S2-S4 until the verticality measurement of the working surface of the main rail and / or the counter rail is completed.

[0050] The gate slot underwater measurement method of the present invention can complete the measurement of the verticality of the working surface of the main rail and / or the counter rail underwater, and reduces the lifting process of the gate slot underwater operation device.

[0051] Preferably, in step S2, after measuring the verticality of the vertical guide rail using a first verticality measuring device, if the verticality of the vertical guide rail is not vertical, the vertical guide rail is adjusted to a vertical state, and then the truss body is fixed to the door slot using an adjusting and fixing device; this method can directly ensure the verticality of the measurement reference.

[0052] Or, in step S2, first make the guide plate of the counter rail fit with the bottom of the positioning groove on the counter rail side, then use the adjustment and fixing device to fix the truss body to the door groove, and then use the first verticality measuring device to measure the verticality of the vertical guide rail; this method requires using the first verticality measuring device to measure the verticality of the vertical guide rail and the second verticality measuring device to measure the verticality of the working surface of the main rail and / or the counter rail for superposition analysis to obtain the actual verticality of the working surface of the main rail and / or the counter rail.

[0053] Preferably, when the gate slot underwater working device includes a sill measuring device, in step S2, the flatness of the top surface of the sill is measured by the sill measuring device.

[0054] In a fifth aspect, the present invention provides a method for underwater processing of a gate groove, using the gate groove underwater working device with a mechanical processing module to measure and process the verticality of the working surface of the main rail and / or the counter rail, comprising the following steps:

[0055] S01: hoisting the underwater working device for the gate slot: hoisting the underwater working device for the gate slot onto the bottom sill by means of a crane; and making the vertical beam of the underwater working device for the gate slot be located between the main rail and the counter rail of the gate slot to be measured; and making the positioning groove on the main rail side of the vertical beam fit the slideway seat plate corresponding to the main rail;

[0056] S02: Verticality measurement of the working surface of the main rail and / or counter rail: The verticality measurement is divided into several measurement strokes. The verticality measurement of the working surface of the main rail and / or counter rail includes steps S02A, S02B and S02C which are executed cyclically until all strokes are measured; wherein:

[0057] S02A: Use the first verticality measuring device to measure the verticality of the vertical guide rail, and use the adjusting and fixing device to fix the truss body to the door slot to be measured;

[0058] S02B: operating the moving device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality of the working surface of the main rail and / or the counter rail until the moving device drives the installation platform upward to the top of the measuring stroke of the moving device and then stops;

[0059] S02C: Lifting the underwater working device of the door slot: release the fixing device of the adjusting device on the truss body, and the crane lifts the underwater working device of the door slot up a measuring stroke;

[0060] S03: Analyze the verticality of the working surface of the main rail and / or the counter rail of the door slot according to the measurement data of step S02; then determine the required processing position of the working surface of the main rail and / or the counter rail according to the analysis result, and divide the required processing position of the working surface of the main rail and / or the counter rail into several processing strokes;

[0061] S04: according to the processing stroke determined in step S03, the underwater working device of the gate slot is moved to one of the processing strokes required for the main rail by a crane;

[0062] S05: using a first verticality measuring device to measure the verticality of the vertical guide rail, and using an adjusting and fixing device to fix the truss body to the door slot;

[0063] S06: operating the mobile device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality error of the working surface of the main rail and / or the counter rail until the mobile device drives the installation platform to move upward to the top of the processing stroke of the mobile device and then stops; then analyzing the verticality of the working surface of the main rail and / or the counter rail at the processing stroke of the door slot according to the measurement data of the processing stroke, and determining the position that needs to be processed within the processing stroke;

[0064] S07: driving the mechanical processing module of the mounting platform to move to the position to be processed within the processing stroke by the moving device, and then processing the position to be processed within the processing stroke by the mechanical processing module;

[0065] S08: Run step S06. If the processing size does not meet the requirements, secondary processing is required, and return to S07; if the processing size meets the requirements, return to S04 until all the processing strokes that need to be processed are completed;

[0066] S09: Re-measurement of the working surface of the main rail and / or counter rail: After processing is completed, measure the verticality of the working surface of the main rail and / or counter rail.

[0067] The underwater door groove processing method of the present invention can simultaneously realize the verticality measurement and processing of the door groove main rail and / or the counter rail underwater.

[0068] Compared with the prior art, the present invention has the following beneficial effects:

[0069] 1. The present invention provides an underwater working platform for a door slot. Through the vertical movement of a truss body and the up and down sliding of a first mounting platform along the vertical guide rail, the first mounting platform can correspond to any height position of the main rail of the door slot to be operated, and there is no need to frequently repeat the operation of lifting, fixing and releasing the fixing truss body; since a first verticality measuring device is provided, the first verticality measuring device is used to measure the verticality of the vertical guide rail, and then the verticality of the first mounting platform can be obtained, so that the verticality of the main rail can be measured with the first mounting platform as a high-precision measurement reference. The moving device, the first verticality measuring device and the adjusting and fixing device are all automatic control mechanisms, which are conducive to underwater operations.

[0070] 2. The present invention provides a door slot underwater working device, which can realize underwater verticality measurement of the working surface of the door slot main rail and / or counter rail. Further, the working surface of the main rail and / or counter rail after measurement can also be processed.

[0071] 3. The present invention provides a gate slot underwater operation system, which can use a crane to vertically lift the gate slot underwater operation device onto the bottom sill of the underwater gate slot, and can also change the height of the gate slot underwater operation device in the gate slot.

[0072] 4. The present invention provides a method for underwater measurement of a gate slot, which can measure the verticality of the working surface of the main rail and / or the counter rail underwater, and reduces the lifting process of the underwater working device of the gate slot.

[0073] 5. The present invention provides an underwater processing method for a door groove, which can simultaneously realize the verticality measurement and processing of the working surface of the door groove main rail and / or counter rail underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] Figure 1 This is a schematic diagram of the structure of the underwater working platform of the gate slot of the present invention;

[0075] Figure 2 for Figure 1 Middle top view;

[0076] Figure 3 for Figure 1 Middle bottom view;

[0077] Figure 4 It is a structural schematic diagram of the underwater operation device of the gate slot of the present invention;

[0078] Figure 5 for Figure 4 A partial enlarged schematic diagram of the middle circle A1;

[0079] Figure 6 for Figure 4 A partial enlarged schematic diagram of the middle circle A2;

[0080] Figure 7 for Figure 4 A partial enlarged schematic diagram of the middle circle A3;

[0081] Figure 8 for Figure 4 Middle rear view;

[0082] Fig. 9 for Figure 8 A partial enlarged schematic diagram of the middle circle B;

[0083] Fig.10 for Figure 4 mid-front view;

[0084] Fig.11 for Fig.10 A partial enlarged schematic diagram of the middle circle C1;

[0085] Fig.12 for Fig.10 A partial enlarged schematic diagram of the middle circle C2;

[0086] Fig.13 for Fig.10 A partial enlarged schematic diagram of the middle circle C3;

[0087] Fig.14 for Figure 4 center right view;

[0088] Fig.15 for Fig.14 A partial enlarged schematic diagram of the middle circle D1;

[0089] Fig.16 for Fig.14 A partial enlarged schematic diagram of the middle circle D2;

[0090] Fig.17 for Fig.14 A partial enlarged schematic diagram of the middle circle D3;

[0091] Fig.18 for Figure 4 center left view;

[0092] Fig.19 It is a structural schematic diagram of a single-side vertical beam underwater working device for a gate slot applied to a single-side gate slot to be operated;

[0093] Fig. 20 for Fig.19 A partial enlarged schematic diagram of the middle circle E1;

[0094] Fig.21 for Fig.19 A partial enlarged schematic diagram of the middle circle E2;

[0095] Fig. 22 for Fig.19 Front view of

[0096] Fig.23 for Fig. 22 Sectional view at AA in the middle;

[0097] Fig.24 for Fig.23 A partial enlarged schematic diagram of the middle circle F;

[0098] Fig.25 It is a top view of the underwater working device for the gate slots of the vertical beams on both sides being applied to the gate slots to be worked on both sides;

[0099] Fig.26 It is a schematic diagram of the structure of the underwater working device of the gate slot with vertical beams and horizontal beams on both sides;

[0100] Fig. 27 for Fig.26 Schematic diagram of top view;

[0101] Fig.28 It is a structural schematic diagram of a gate slot underwater operating device with vertical beams and horizontal beams on both sides applied to the gate slots to be operated on both sides.

[0102] Markings in the figure: 1, vertical beam; 11, positioning plate; 111, positioning groove; 12, water-blocking structure; 121, water-blocking plate; 122, water-blocking belt; 123, installation channel steel; 2, door slot to be operated; 21, main rail; 22, counter rail; 23, slide seat plate; 231, guide plate; 201, bottom sill; 202, door lintel; 31, vertical guide rail; 32, feeding mechanism; 321, idler wheel; 322, chain; 323, driving mechanism; 324, driving wheel; 325, driven wheel; 33, The first mounting platform; 34, the first transverse guide rail; 35, the sliding part; 4, the first verticality measuring device; 41, the measuring mounting tube; 42, the plumb bob; 421, the sling; 43, the first distance sensor; 5, the telescopic supporting structure; 6, the crossbeam; 71, the second distance sensor; 81, the milling cutter; 82, the tool holder; 83, the second transverse guide rail; 9, the sill measuring device; 91, the second mounting platform; 92, the third distance sensor; 10, the gate opening and closing machine; 101, the sling; 102, the bracket. DETAILED DESCRIPTION

[0103] The present invention is further described in detail below in conjunction with specific embodiments. However, this should not be understood as the scope of the above subject matter of the present invention being limited to the following embodiments, and all technologies realized based on the content of the present invention belong to the scope of the present invention.

[0104] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or position relationship such as "up", "down", "left", "right", "center", "inside", "outside", etc. are all expressions based on the orientation or position relationship shown in the drawings, or are the orientation or position relationship when the invented product / equipment / device is usually used. These terms of orientation or position relationship are only for the convenience of describing the scheme of the present invention or simplifying the description in the specific embodiments, so as to facilitate the technicians to quickly understand the scheme, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific position relationship, and therefore cannot be understood as a limitation on the present invention.

[0105] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simplified to mean that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", "parallel", etc., and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the scheme of the present invention.

[0106] In addition, the expressions “first”, “second”, “third”, etc., which appear in the terms, are merely used to distinguish the description of the same or similar components and should not be understood as emphasizing or implying the relative importance of specific components.

[0107] In addition, in the description of the embodiments of the present invention, "several", "plurality" and "a number" represent at least 2. It can be any number such as 2, 3, 4, 5, 6, 7, 8, 9, and even more than 9.

[0108] In addition, in the description of the technical solution of the present invention, unless otherwise clearly specified / defined / restricted, the terms "set", "install", "connect", "connected", "provided with", "laid", and "arranged" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, and can be welding, riveting, bolting, threading, and other commonly used connection means in the field. This connection can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, and can be the internal connection of two elements.

[0109] Example 1

[0110] like Figure 1-3 As shown, a door slot underwater working platform includes: a truss body, a moving device, a first verticality measuring device 4 and an adjusting and fixing device.

[0111] The truss body has a first direction, a second direction and a vertical direction, such as Figure 1 As shown, the vertical direction is the height direction, the first direction, the second direction and the vertical direction are perpendicular to each other, the first direction can be understood as the upstream and downstream direction of the gate, and the second direction can be understood as the width direction of the gate.

[0112] The truss body includes a vertical beam 1. Figure 1 and Figure 2 It can be seen that the vertical beam 1 is provided with positioning grooves 111 on the main rail side and the reverse rail side in the first direction. Figure 2 and Figure 3 It can be seen that positioning grooves 111 are respectively provided at the upper and lower ends of the vertical beam 1, and the positioning grooves 111 are provided in a manner that a horizontal positioning plate 11 is welded on the outside of the vertical beam 1, and a positioning groove 111 with an opening facing outward is provided on the outside of the positioning plate 11. The portion of the vertical beam 1 provided with the positioning groove 111 in the first direction can be used to be adapted and arranged in the door slot 2 to be operated, which can be referred to Figure 1 , Figure 2 , Fig.19 , Fig.21 , Fig.23 and Fig.24 , so that the positioning groove 111 of the vertical beam 1 on the main rail side is used to adapt and position with the slide seat plate 23 of the main rail 21 in the door slot 2 to be operated, and the positioning groove 111 of the vertical beam 1 on the reverse rail side is used to adapt and position with the guide plate 231 of the reverse rail 22 in the door slot 2 to be operated, such as Fig.24 As shown; in this solution, a positioning groove 111 may be provided only on the main rail side of the vertical beam 1 in the first direction, for cooperating with the slide seat plate 23 of the main rail 21.

[0113] For reference Figure 2-Figure 7 , the mobile device is arranged on the main rail side of the vertical beam 1 in the first direction, and is used for measuring and moving the working surface of the main rail. Specifically, the vertical beam 1 is a truss structure, and its interior is hollow, so that the mobile device can be arranged. The mobile device includes a vertical guide rail 31, a feeding mechanism 32 and a first mounting platform 33. The vertical guide rail 31 is arranged vertically and connected to the corresponding vertical beam 1. The first mounting platform 33 is slidably connected to the vertical guide rail 31. The feeding mechanism 32 can drive the first mounting platform 33 to slide up and down along the vertical guide rail 31; the feeding mechanism 32 can drive the execution equipment (measuring device, machining module) installed on the first mounting platform 33 to move up and down along the vertical guide rail 31. Among them, the mobile device can also be arranged on both the main rail side and the reverse rail side in the first direction, and the mobile device on each side corresponds to the measurement movement of each side, such as the mobile device arranged on the main rail side is used for measuring and moving the working surface of the main rail, and the mobile device arranged on the reverse rail side is used for measuring and moving the working surface of the reverse rail; the mobile device can also be arranged only on the reverse rail side in the first direction, and is only used for measuring and moving the working surface of the reverse rail.

[0114] As 2- Fig. 9 As shown, the feeding mechanism 32 includes an idler wheel 321, a chain 322, a driving mechanism 323, a driving wheel 324 and a driven wheel 325. Fig. 9As shown, the idler wheel 321 and the chain 322 are meshed and matched, the idler wheel 321 is connected to the first mounting platform 33, and the chain 322 is arranged in a closed loop in the vertical direction; Fig.11 Shown and Fig.13 As shown, the driving wheel 324 is arranged at the upper end of the vertical beam 1, the driven wheel 325 is arranged at the lower end of the vertical beam 1, and the upper end and the lower end of the chain 322 are respectively wound around the driving wheel 324 and the driven wheel 325; Figure 5 As shown, the driving mechanism 323 is arranged at the top of the vertical beam 1, and the driving mechanism 323 is used to drive the driving wheel 324 to rotate. After the driving mechanism 323 drives the driving wheel 324 to rotate, the driving wheel 324 drives the chain 322 to rotate, and the chain 322 drives the driven wheel 325 and the idler wheel 321 to rotate. The rotation of the idler wheel 321 changes the vertical height of the first mounting platform 33, so that the first mounting platform 33 moves up and down along the vertical guide rail 31. The driving mechanism 323 is arranged at the top of the vertical beam 1. When used underwater, it can reduce its depth in the water, which is conducive to safety and stability in use. The driving mechanism 323 makes the mobile device an automatic control mechanism, which can be automatically controlled and can be used underwater.

[0115] like Figure 6 and Fig.16 As shown, the mobile device also includes a first transverse guide rail 34 and a sliding part 35. The first transverse guide rail 34 is arranged along the second direction. The sliding part 35 is vertically slidably connected to the vertical guide rail 31. The idler wheel 321 is connected to the sliding part 35. The first transverse guide rail 34 is connected to the sliding part 35. The first mounting platform 33 is slidably connected to the first transverse guide rail 34 in the second direction. That is, when the driving mechanism 323 drives the active wheel 324, the idler wheel 321 drives the sliding part 35 to move up along the vertical guide rail 31, and then drives the first mounting platform 33 to move up. The setting of the first transverse guide rail 34 makes it possible to adjust the position of the first mounting platform 33 in the second direction, so that it can better align with the main rail 21, which is beneficial to the operation. Fig.16 As shown, a first transverse guide rail 34 is provided on the upper and lower sides respectively, which can ensure the stability of the connection and reduce the posture change after moving along the second direction, which is beneficial to ensure the reference of the first working platform.

[0116] As an embodiment, the moving device includes at least two vertical guide rails 31, and the at least two vertical guide rails 31 are spaced apart along the second direction. By arranging at least two vertical beams 1 at intervals in the second direction, the verticality of the vertical beams 1 spaced apart in the second direction can be measured respectively, thereby determining the distortion of the first mounting platform 33 in the first direction.

[0117] like Fig.12As shown, the first mounting platform 33 is provided with mounting holes, which are arranged in a rectangular array, and the measuring device and the machining module etc. can be installed through the mounting holes.

[0118] The first verticality measuring device 4 is disposed on the vertical guide rail 31. The first verticality measuring device 4 is used to measure the verticality of the vertical guide rail 31, so that the vertical guide rail 31 is the basic plane for operation. Each vertical guide rail 31 is respectively installed with verticality measuring devices on the upper and lower ends, which can detect the posture (i.e. verticality) of the vertical guide rail 31 and provide corresponding signal output. The first verticality measuring device 4 can be a sensor. The sensor is disposed on the upper and lower ends of the vertical guide rail 31 to measure the verticality of the vertical guide rail 31. In this embodiment, Figure 1-Figure 2 as well as Figure 5-Figure 7 The first verticality measuring device 4 includes a measuring installation tube 41, a plumb bob 42 and a first distance sensor 43. The measuring installation tube 41 is vertically arranged and directly connected to the corresponding vertical guide rail 31. The plumb bob 42 can be vertically suspended in the measuring installation tube 41 by a suspension rope 421. The first distance sensor 43 is arranged at the lower part of the measuring installation tube 41. The first distance sensor 43 can measure the distance between the plumb bob 42 and the first distance sensor 43. The plumb bob 42 can ensure a vertical state under the action of gravity. By arranging the first distance sensor 43 at the bottom of the measuring installation tube 41, the distance between the first distance sensor 43 and the plumb bob 42 can be measured, and the distance between the suspension rope 421 on the inner side of the top of the measuring installation tube 41 and the side of the measuring installation tube 41 is a known value. Then, the verticality of the measuring installation tube 41 can be calculated by the distance between the first distance sensor 43 and the plumb bob 42 and the distance between the suspension rope 421 on the inner side of the top of the measuring installation tube 41 and the side of the measuring installation tube 41, and then the verticality of the vertical guide rail 31 can be obtained. When working underwater, the setting of the measuring installation pipe 41 can ensure that the working environment of the plumb bob 42 is basically in a static water state, and thus is basically not affected by water, thereby ensuring accurate measurement of verticality. The first distance sensor 43 is an automatic control mechanism, such as automatic control methods such as wireless communication and circuit control, and can be used underwater. Figure 2 As shown, a vertical guide rail 31 is respectively provided on both sides of the second direction of the vertical beam 1, and a measuring mounting tube 41 is provided corresponding to the vertical guide rail 31. After measuring the verticality of the two vertical guide rails 31, it is possible to determine whether the two vertical guide rails 31 are twisted in the first direction, and then determine whether the first mounting platform 33 is twisted in the first direction, and then determine whether the operation is affected by the twisting degree in the first direction, so as to ensure the measurement accuracy or correct the measurement result according to the twisting degree.

[0119] The adjusting and fixing device can fix the truss body to the door slot 2 to be operated and can release the fixing of the truss body and the door slot 2 to be operated; as an option, the adjusting and fixing device is at least two telescopic support structures 5, the telescopic support structures 5 can be telescoped in a first direction, and the telescopic support structures 5 are vertically spaced on the vertical beam 1. Figure 5 , a telescopic support structure 5 is provided on the top of the main rail side of the vertical beam 1; Figure 7 As shown, a telescopic support structure 5 is provided at the bottom of the main rail side of the vertical beam 1, and the telescopic support structure 5 is automatically controlled by a hydraulic cylinder or the like to achieve automatic telescoping and can be used underwater. The adjusting and fixing device is provided on the main rail side of the vertical beam 1, and the counter rail side of the vertical beam 1 can be abutted against the guide plate 231 of the counter rail 22 by using the positioning groove 111. By only fixing the main rail side, the operation is simpler and more working space can be provided for the main rail side. The telescopic support structure 5 is provided at the top and bottom of the main rail side, so that the support fixation can be more stable.

[0120] In an optional embodiment, if Figure 1-Figure 3 as well as Fig.24 As shown, the vertical beam 1 is provided with a water-isolating mechanism on one side away from the gate slot 2 to be operated in the second direction, and the water-isolating mechanism can form an enclosure structure with the corresponding gate slot 2 to be operated. The water-isolating mechanism separates the water flow inside the gate slot 2 to be operated from the water flow outside the gate slot 2 to be operated, so that the water flow inside the gate slot 2 to be operated is in a nearly static state, thereby improving the accuracy of the operation. When operating underwater, the influence of water turbulence on the measurement accuracy of the equipment can be effectively reduced. In this embodiment, as Fig.23As shown, the water-blocking mechanism includes a water-blocking plate 121 and a water-blocking strip 122. The water-blocking plate 121 blocks the side of the vertical beam 1 away from the door slot 2 to be operated in the second direction. The water-blocking strip 122 is arranged outside the bottom side of the water-blocking plate 121 and outside the two sides in the first direction. The water-blocking strip 122 arranged outside the two sides in the first direction of the water-blocking plate 121 can seal the area between the door slot 2 to be operated and the water-blocking plate 121. And outside the two sides in the first direction, the vertical beam 1 is provided with an installation channel steel 123, and the installation channel steel 123 faces outward for installing the water-blocking strip 122. Among them, the water-blocking strip 122 can be a rubber structure, such as a rubber tire. Of course, the water-blocking strip 122 can also adopt an inflatable structure. Optionally, the water-blocking strip 122 on one side of the first direction is fixedly set, and the water-blocking strip 122 on the other side of the first direction adopts an inflatable structure, which can better adapt to the size of the door slot. Corresponding to the telescopic support structure 5 being arranged on the main rail side, the inflatable structure can be arranged on the main rail side, so as to facilitate the direct abutment fixation and water isolation of the counter rail side. Alternatively, the main rail side water isolation belt 122 is magnetically attracted to the main rail 21 by a magnet, and at the same time, the inflatable tire of the water blocking device on the counter rail side is adjusted to ensure that the inflation is required to ensure water blocking. The water isolation mechanism separates the water flow inside the door slot from the water flow outside the door slot, so that the water flow in the door slot is in a "static" state, ensuring the accuracy of measurement and processing operations.

[0121] like Figure 1-Figure 24 As shown, the truss main body adopts one vertical beam 1, that is, only one side of the door slot 2 to be operated can be operated at one time.

[0122] As another embodiment, Fig.25 As shown, the truss body adopts two vertical beams 1, that is, the truss body includes the vertical beams 1 located on both sides of the second direction, and the vertical beams 1 are used to adapt to the door slots 2 to be operated on both sides of the second direction, and the vertical beams 1 on each side are provided with the moving device. It can operate on the verticality of the door slots on both sides, such as measuring the verticality. In this setting, since the vertical guide rails 31 of the vertical beams 1 on the left and right sides are provided with the first verticality measuring device 4, the verticality of the vertical guide rails 31 on the left and right sides can be measured according to the first verticality measuring device 4 on the left and right sides, and then the distortion in the first direction can be judged. Since it is judged whether the door slots 2 to be operated on the left and right sides are distorted, it can be used to calculate the distortion.

[0123] As another embodiment, Figure 26-Figure 28As shown, the truss body includes the vertical beams 1 located on both sides of the second direction, and the truss body also includes a cross beam 6, which is arranged along the second direction and connected between the vertical beams 1 on both sides. The cross beam 6 can connect the two vertical beams 1 into a whole, reduce the distortion of the vertical beams 1 on both sides in the first direction, and thus facilitate the measurement of the distortion of the vertical beams 1 on both sides. Optionally, the cross beam 6 is connected between the tops of the vertical beams 1 on both sides, and the cross beam 6 can serve as a passage from the vertical beam 1 on one side to the vertical beam 1 on the other side. When manual operation is required, it is convenient to reach the door slot 2 to be operated on the other side from the door slot 2 to be operated on one side. The cross beam 6 is used to facilitate personnel to inspect the door slot underwater working platform and the equipment thereon, and a guardrail is arranged on the cross beam 6 to ensure the safety of the maintenance personnel.

[0124] In this embodiment, the gate slot underwater working platform mainly provides underwater measurement benchmarks and measurement conditions, and the mobile device is arranged on the main rail side, mainly for measuring the main rail and subsequent processing.

[0125] Example 2

[0126] A device for underwater working of a gate slot, comprising the underwater working platform of the gate slot in Example 1, further comprising: a measuring device, wherein the measuring device comprises a second verticality measuring device, wherein the second verticality measuring device is installed on the first mounting platform 33 of the device for underwater working of the gate slot; when the second verticality measuring device is installed on the first mounting platform 33 of the moving device on the main rail side, the second verticality measuring device is used to automatically measure the verticality of the working surface of the main rail 21 of the gate slot to be worked (such as the working surface of the slide seat plate 23); when the second verticality measuring device is installed on the first mounting platform 33 of the moving device on the reverse rail side, the second verticality measuring device is used to automatically measure the verticality of the reverse rail working surface of the gate slot to be worked 2, and transmit the feedback signal to the control system; and can also be used to detect the processing amount of the slide seat plate 23 to be corrected of the main rail and the processing amount of the working surface to be corrected of the reverse rail. Figure 6 As shown, a door slot underwater working device is provided, in which a sensor is installed on a mounting platform, and the verticality of the working surface of the door slot track of the door slot to be measured can be measured, so that the underwater verticality measurement of the working surface of the door slot track can be realized.

[0127] In an optional embodiment, the second verticality measuring device includes at least two second distance sensors 71 spaced apart along the second direction, and the second distance sensor 71 is used to measure the distance between the slide seat plate 23 and the main rail 21 of the door slot 2 to be operated or the distance between the slide seat plate 23 and the working surface of the counter rail of the door slot 2 to be operated, and then the verticality of the slide seat plate 23 of the main rail 21 of the door slot 2 to be operated or the verticality of the counter rail of the door slot 2 to be operated can be obtained according to the distances at different vertical heights. And the second verticality measuring device includes at least two second distance sensors 71 spaced apart along the second direction, so that the main rail 21 can be measured on a surface, that is, at least two points can be measured in the second direction to form a surface measurement, and the measurement accuracy is higher. Figure 6 As shown, the second distance sensor 71 can also be installed at different vertical heights, and the second distance sensors 71 can be used to form a group for surface measurement, and the groups can be arranged in an array to improve the comprehensiveness of the measurement data and the accuracy of the measurement. When the gate slot to be measured is in moving water, the second distance sensor 71 adopts a non-contact stroke sensor; when the gate slot to be measured is in still water, the second distance sensor 71 adopts a contact stroke sensor or a non-contact stroke sensor.

[0128] In an optional embodiment, in addition to measuring verticality, the underwater working device for the gate slot can also process the main rail 21 and / or the reverse rail of the gate slot according to the verticality measurement result. Correction is made based on the feedback data measured by the second distance sensor 71 so that the verticality reaches the design requirement value of +2mm to -1mm, and the correction distortion reaches the design requirement within 2mm; it can also be used to detect the processing amount of the slide seat plate 23 to be corrected, the moving device performs corresponding feeding according to the feedback data of the second distance sensor 71, and the mechanical processing module performs corresponding correction processing according to the feedback data of the verticality detection device. Specifically, the underwater working device for the gate slot also includes a mechanical processing module, which is installed on the first mounting platform 33, and the mechanical processing module is used to automatically process and correct the slide seat plate 23 of the main rail 21 of the gate slot 2 to be operated. Figure 6 , Fig.12 and Fig.16 As shown, the machining module is a tool set, and the tool set includes a milling cutter 81 or a grinding wheel, and the milling cutter 81 or the grinding wheel faces the first direction. The milling cutter 81 or the grinding wheel is used for machining, and the machining speed is fast, and the machining can be better flattened, the machining effect is good, and the verticality is guaranteed. Figure 6 and Fig.16As shown, the tool group also includes a tool seat 82 and a second transverse guide rail 83, the tool seat 82 is installed on the first mounting platform 33, the second transverse guide rail 83 is arranged on the tool seat 82, the second transverse guide rail 83 is arranged along the first direction, and the milling cutter 81 is slidably connected to the second transverse guide rail 83, thereby being able to change the position of the milling cutter in the first direction, so that it can adapt to different processing distances.

[0129] In an optional embodiment, when the truss body of the gate slot underwater working platform includes the vertical beams 1 located on both sides of the second direction, as Fig.26 and Fig.28 The underwater working device for the door slot also includes a sill measuring device 9, which includes a second mounting platform 91 and a plurality of third distance sensors 92. The second mounting platform 91 is connected to the lower part of the vertical beam 1 on both sides, and all the third distance sensors 92 are installed on the second mounting platform 91. Fig.28 As shown, the third distance sensors 92 are arranged in a rectangular array on the second mounting platform 91, and the third distance sensors 92 are used to automatically measure the distance from the bottom sill 201, and then calculate the flatness of the top surface of the bottom sill 201. The second mounting platform 91 can be used as the crossbeam 6.

[0130] Example 3

[0131] A gate slot underwater working system comprises a crane and the gate slot underwater working device described in Example 2, wherein the crane is capable of vertically moving the gate slot underwater working device.

[0132] like Fig.19 , Fig. 20 , Fig. 22 or Fig.28 As shown, the crane includes a gate hoist 10 located at the top of the gate slot 2 to be operated, and the gate hoist 10 is connected to the truss body of the gate slot underwater operation device through a sling 101. Fig. 20 As shown, the hoist 10 is set up in the middle of the first direction of the top of the corresponding side gate slot by the bracket 102, so as to ensure that a uniform lifting force can be provided for the gate slot underwater working device, thereby ensuring the stability of lifting. In addition to the hoist 10, a structure such as a crane can also be used to lift the gate slot underwater working device, that is, the crane can be any type of equipment with a lifting function.

[0133] The underwater gate slot working system described in this embodiment can utilize a crane to vertically hoist the underwater gate slot working device onto the bottom sill 201 of the underwater gate slot, and can also change the height of the underwater gate slot working device in the gate slot.

[0134] Example 4

[0135] like Fig. 22As shown, the bottoms of the left and right door slots of the gate are located on the bottom sill 201, and a door lintel 202 is provided in the middle.

[0136] The present invention provides a method for underwater measurement of a gate slot, which uses the gate slot underwater operation system described in Example 3 to perform measurement, and includes the following steps:

[0137] S1: hoist the underwater working device of the gate slot onto the sill 201 by a crane (such as a gate hoist 10); and make the vertical beam 1 of the underwater working device of the gate slot be located between the main rail 21 and the counter rail 22 of the gate slot to be measured; and make the positioning groove 111 on the main rail side of the vertical beam 1 adapt to the slideway seat plate 23 corresponding to the main rail 21; when the positioning groove 111 is provided on the counter rail side of the vertical beam 1, make the positioning groove 111 on the counter rail side of the vertical beam 1 adapt to the guide plate 231 corresponding to the counter rail 22;

[0138] S2: Use the first verticality measuring device 4 to measure the verticality of the vertical guide rail 31; and use the adjusting and fixing device to fix the truss body to the door groove; wherein, the verticality of the vertical guide rail 31 can be measured first, or the truss body can be fixed first.

[0139] In an optional implementation, in step S2, after using the first verticality measuring device 4 to measure the verticality of the vertical guide rail 31, if the verticality of the vertical guide rail 31 is not vertical, the vertical guide rail 31 is adjusted to a vertical state, and then the truss body is fixed to the door slot using an adjusting and fixing device; this method can directly ensure the verticality of the measurement reference.

[0140] Alternatively, in step S2, when a positioning groove 111 is set on the counter-rail side of the vertical beam 1, the guide plate 231 of the counter-rail 22 is first made to fit with the bottom of the positioning groove 111 on the counter-rail side, and then the truss body is fixed to the door groove by using an adjusting and fixing device, and then the verticality of the vertical guide rail 31 is measured by the first verticality measuring device 4; this method requires the use of the first verticality measuring device 4 to measure the verticality of the vertical guide rail 31 and the second verticality measuring device to measure the verticality of the slide seat plate 23 of the main rail 21 for superposition analysis to obtain the actual verticality of the main rail 21.

[0141] In an optional implementation manner, when the gate slot underwater working device includes a sill measuring device 9 , in step S2 , the top surface flatness of the sill 201 is measured by the sill measuring device 9 .

[0142] S3: The moving device is operated to drive the installation platform upward and the second verticality measuring device is used to measure the verticality of the working surface of the main rail 21 (such as the verticality of the slideway seat plate 23) and / or the verticality of the working surface of the counter rail, until the moving device drives the installation platform upward to the top of the travel of the moving device and stops;

[0143] S4: release the fixing of the adjusting fixing device on the truss body, and the crane lifts the door slot underwater working device up by one stroke;

[0144] S5: Repeat steps S2-S4 until the verticality of the working surface of the main rail 21 (such as the verticality of the slideway seat plate 23) and / or the verticality of the working surface of the counter rail are measured.

[0145] The underwater gate groove measurement method of this embodiment can complete the measurement of the verticality of the working surface of the main rail 21 (such as the verticality of the slideway seat plate 23) and / or the verticality of the working surface of the counter rail underwater, and reduces the lifting process of the gate groove underwater operation device.

[0146] Example 5

[0147] A method for underwater processing of a gate groove, using the gate groove underwater operation device with a mechanical processing module in embodiment 2, comprises the following steps:

[0148] S01: hoisting the underwater working device for the gate slot: hoisting the underwater working device for the gate slot onto the sill 201 by means of a crane; and making the vertical beam 1 of the underwater working device for the gate slot be located between the main rail 21 and the counter rail 22 of the gate slot to be measured; and making the positioning groove 111 on the main rail side of the vertical beam 1 adapt to the slideway seat plate 23 corresponding to the main rail 21; and when the positioning groove 111 is provided on the counter rail side of the vertical beam 1, making the positioning groove 111 on the counter rail side of the vertical beam 1 adapt to the guide plate 231 corresponding to the counter rail 22;

[0149] S02: Measurement of the verticality of the working surface of the main rail 21 and / or the counter rail: The measurement of the verticality of the working surface of the main rail 21 and / or the counter rail is divided into several measurement strokes, and the measurement of the verticality of the working surface of the main rail 21 and / or the counter rail includes steps S02A, S02B and S02C which are executed cyclically until all strokes are measured; wherein:

[0150] S02A: Use the first verticality measuring device 4 to measure the verticality of the vertical guide rail 31, and use the adjusting and fixing device to fix the truss body to the door slot to be measured;

[0151] S02B: operating the moving device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality of the working surface of the main rail 21 and / or the counter rail until the moving device drives the installation platform upward to the top of the measuring stroke of the moving device and stops;

[0152] S02C: Lifting the underwater working device of the door slot: release the fixing device of the adjusting device on the truss body, and the crane lifts the underwater working device of the door slot up a measuring stroke;

[0153] S03: Analyze the verticality of the working surface of the main rail 21 and / or the counter rail of the door slot according to the measurement data of step S02; then determine the required processing position of the working surface of the main rail 21 and / or the counter rail according to the analysis result, and divide the required processing position of the working surface of the main rail 21 and / or the counter rail into several processing strokes;

[0154] S04: According to the processing stroke determined in step S03, the underwater working device of the gate groove is moved by a crane to one of the processing strokes required for the working surface of the main rail 21 and / or the counter rail;

[0155] S05: using the first verticality measuring device 4 to measure the verticality of the vertical guide rail 31, and using the adjusting and fixing device to fix the truss body to the door slot;

[0156] S06: The mobile device is operated to drive the installation platform to move upward and the second verticality measuring device is used to measure the verticality error of the working surface of the main rail 21 and / or the counter rail, until the mobile device drives the installation platform to move upward to the top of the processing stroke of the mobile device and then stops; then the verticality of the working surface of the main rail 21 and / or the counter rail at the processing stroke of the door slot is analyzed according to the measurement data of the processing stroke, and the position that needs to be processed within the processing stroke is determined;

[0157] S07: driving the mechanical processing module of the mounting platform to move to the position to be processed within the processing stroke by the moving device, and then processing the position to be processed within the processing stroke by the mechanical processing module;

[0158] S08: Run step S06. If the processing size does not meet the requirements, secondary processing is required, and return to S07; if the processing size meets the requirements, return to S04 until all the processing strokes that need to be processed are completed;

[0159] S09: Re-measurement of the verticality of the working surface of the main rail 21 and / or the counter rail: After the processing is completed, the verticality of the working surface of the main rail 21 and / or the counter rail is measured.

[0160] The underwater processing method of the door slot described in this embodiment can simultaneously realize the verticality measurement and processing of the door slot main rail 21 underwater. The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modification, equivalent replacement and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A door slot underwater working platform, characterized in that: include: A truss body, wherein the truss body has a first direction, a second direction and a vertical direction, wherein the first direction, the second direction and the vertical direction are perpendicular to each other, wherein the truss body comprises a vertical beam, wherein the vertical beam is provided with a positioning groove on the main rail side in the first direction, wherein the portion of the vertical beam provided with the positioning groove in the first direction can be adapted to be arranged in the door slot to be operated, and wherein the positioning groove of the vertical beam on the main rail side is adapted to be positioned with the slideway seat plate of the main rail in the door slot to be operated; A moving device, the moving device is arranged on the main rail side and / or the counter rail side of the vertical beam in the first direction, the moving device comprises a vertical guide rail, a feeding mechanism and a first mounting platform, the vertical guide rail is arranged vertically and connected to the corresponding vertical beam, the first mounting platform is slidably connected to the vertical guide rail, and the feeding mechanism can drive the first mounting platform to slide up and down along the vertical guide rail; a first verticality measuring device, the first verticality measuring device being arranged on the vertical guide rail, and the first verticality measuring device being used to measure the verticality of the vertical guide rail; An adjusting and fixing device, wherein the adjusting and fixing device can fix the truss body to the door slot to be operated and can release the fixing of the truss body and the door slot to be operated; The moving device, the first verticality measuring device and the adjusting and fixing device are all automatic control mechanisms.

2. The underwater working platform for a door slot according to claim 1, characterized in that: The moving device comprises at least two vertical guide rails, and the at least two vertical guide rails are arranged at intervals along the second direction.

3. The underwater working platform for a door slot according to claim 1, characterized in that: The vertical beam is provided with a water-isolating mechanism on one side of the second direction away from the door slot to be operated, and the water-isolating mechanism can form an enclosure structure with the corresponding door slot to be operated.

4. The underwater working platform for a door slot according to claim 3, characterized in that: The vertical beam is a truss structure, and the water-blocking mechanism includes a water-blocking plate and a water-blocking strip. The water-blocking plate seals the side of the vertical beam away from the door groove to be operated in the second direction, and the water-blocking strip is arranged outside the bottom side of the water-blocking plate and outside the two sides in the first direction. The water-blocking strip arranged outside the two sides in the first direction of the water-blocking plate can seal the area between the door groove to be operated and the water-blocking plate.

5. The door slot underwater working platform according to claim 1, characterized in that: The moving device also includes a first transverse guide rail and a sliding part, the first transverse guide rail is arranged along the second direction, the sliding part is vertically slidably connected to the vertical guide rail, the first transverse guide rail is connected to the sliding part, and the first mounting platform is slidably connected to the first transverse guide rail in the second direction.

6. The underwater working platform for a door slot according to claim 1, characterized in that: The first verticality measuring device includes a measuring installation tube, a plumb bob and a first distance sensor. The measuring installation tube is vertically arranged and directly connected to the corresponding vertical guide rail. The plumb bob can be vertically suspended in the measuring installation tube. The first distance sensor is arranged in the lower part of the measuring installation tube. The first distance sensor can measure the distance between the plumb bob and the first distance sensor.

7. The door slot underwater working platform according to claim 1, characterized in that: The adjusting and fixing device is at least two telescopic support structures, the telescopic support structures can be telescoped in a first direction, and the telescopic support structures are vertically spaced apart on the vertical beam.

8. The underwater working platform for a door slot according to claim 7, characterized in that: The vertical beam is also provided with a positioning groove on the counter-rail side in the first direction. The positioning groove of the vertical beam on the counter-rail side is used to adapt and position with the guide plate of the counter-rail in the door slot to be operated, and the adjustment and fixing device is arranged on the main rail side of the vertical beam.

9. The underwater working platform for a door slot according to claim 1, characterized in that: The feeding mechanism includes an idler wheel, a chain, a driving mechanism, a driving wheel and a driven wheel. The chain is arranged in a closed loop in the vertical direction. The driving wheel is arranged at the upper end of the vertical beam, and the driven wheel is arranged at the lower end of the vertical beam. The upper and lower ends of the chain are respectively wound around the driving wheel and the driven wheel. The driving mechanism is arranged at the top of the vertical beam. The driving mechanism is used to drive the driving wheel to rotate. The idler wheel is meshed with the chain, and the idler wheel is connected to the first mounting platform.

10. A door slot underwater working platform according to any one of claims 1 to 9, characterized in that: The truss body includes the vertical beams located on both sides of the second direction, the vertical beams are used to adapt to the door slots to be operated on both sides of the second direction, and the vertical beams on each side are respectively provided with the moving device.

11. The door slot underwater working platform according to claim 10, characterized in that: The truss body includes a cross beam, which is arranged along the second direction and connected between the vertical beams on both sides.

12. The door slot underwater working platform according to claim 11, characterized in that: The cross beam is connected between the tops of the vertical beams on both sides.

13. A door slot underwater operation device, characterized in that: The door slot underwater working platform comprises any one of claims 1 to 12, and further comprises: The measuring device comprises a second verticality measuring device, the second verticality measuring device is installed on the first installation platform of the gate slot underwater operation device, and the second verticality measuring device is used to automatically measure the verticality of the main rail of the gate slot to be operated.

14. The underwater door slot operation device according to claim 13, characterized in that: The second verticality measuring device comprises at least two second distance sensors spaced apart along a second direction, and the second distance sensors are used to measure the distance from the working surface of the main rail or the counter rail of the door slot to be operated.

15. The underwater working device for a gate slot according to any one of claims 13-14, characterized in that: It also includes a mechanical processing module, which is installed on the first installation platform and is used for automatically processing and correcting the working surface of the main rail or the counter rail of the door slot to be operated.

16. The underwater working device for gate slot according to claim 15, characterized in that: The machining module is a tool set, and the tool set includes a milling cutter or a grinding wheel, and the milling cutter or the grinding wheel faces a first direction.

17. The underwater working device for gate slots according to claim 16, characterized in that: The tool set also includes a tool holder and a second transverse guide rail, the tool holder is installed on the first installation platform, the second transverse guide rail is arranged on the tool holder, the second transverse guide rail is arranged along the first direction, and the milling cutter or grinding wheel is slidably connected to the second transverse guide rail.

18. The underwater working device for a gate slot according to any one of claims 13-14, characterized in that: When the truss body of the gate slot underwater working platform includes the vertical beams located on both sides of the second direction, the gate slot underwater working device also includes a sill measuring device, and the sill measuring device includes a second mounting platform and a plurality of third distance sensors. The second mounting platform is connected to the lower part of the vertical beams on both sides, and all the third distance sensors are installed on the second mounting platform. The third distance sensors are used to automatically measure the distance to the sill.

19. A door slot underwater operation system, characterized in that: It comprises a crane and the underwater working device for the gate slot as described in any one of claims 13 to 18, wherein the crane is capable of vertically moving the underwater working device for the gate slot.

20. A method for underwater measurement of a door slot, characterized in that: The method of measuring the gate slot underwater operation system according to any one of claims 19 to 20 comprises the following steps: S1: hoist the underwater working device for the gate slot onto the sill by means of a crane; and make the vertical beam of the underwater working device for the gate slot be located between the main rail and the counter rail of the gate slot to be measured; and make the positioning groove on the main rail side of the vertical beam fit the slideway seat plate corresponding to the main rail; S2: using a first verticality measuring device to measure the verticality of the vertical guide rail; and using an adjusting and fixing device to fix the truss body to the door slot; S3: operating the moving device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality of the working surface of the main rail and / or the counter rail until the moving device drives the installation platform upward to the top of the travel of the moving device and stops; S4: release the fixing of the adjusting fixing device on the truss body, and the crane lifts the door slot underwater working device up by one stroke; S5: Repeat steps S2-S4 until the verticality measurement of the working surface of the main rail and / or the counter rail is completed.

21. The method for underwater door groove measurement according to claim 20, characterized in that: In step S2, after measuring the verticality of the vertical guide rail using a first verticality measuring device, if the verticality of the vertical guide rail is not vertical, the vertical guide rail is adjusted to a vertical state, and then the truss body is fixed to the door slot using an adjusting and fixing device; Or, in step S2, the guide plate of the counter rail is first made to fit with the bottom of the positioning groove on the counter rail side, and then the truss body is fixed to the door groove by using an adjusting and fixing device, and then the verticality of the vertical guide rail is measured by using a first verticality measuring device.

22. The method for underwater door groove measurement according to any one of claims 20-21, characterized in that: When the gate slot underwater working device includes a sill measuring device, in step S2, the top surface flatness of the sill is measured by the sill measuring device.

23. A method for underwater processing of a door groove, characterized in that: The method of measuring and processing the verticality of the working surface of the main rail and / or the counter rail by using the underwater door slot working device described in any one of claims 15 to 17 comprises the following steps: S01: hoisting the underwater working device for the gate slot: hoisting the underwater working device for the gate slot onto the bottom sill by means of a crane; and making the vertical beam of the underwater working device for the gate slot be located between the main rail and the counter rail of the gate slot to be measured; and making the positioning groove on the main rail side of the vertical beam fit the slideway seat plate corresponding to the main rail; S02: Verticality measurement of the working surface of the main rail and / or counter rail: The verticality measurement is divided into several measurement strokes. The verticality measurement of the working surface of the main rail and / or counter rail includes steps S02A, S02B and S02C which are executed cyclically until all strokes are measured; wherein: S02A: Use the first verticality measuring device to measure the verticality of the vertical guide rail, and use the adjusting and fixing device to fix the truss body to the door slot to be measured; S02B: operating the moving device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality of the working surface of the main rail and / or the counter rail until the moving device drives the installation platform upward to the top of the measuring stroke of the moving device and then stops; S02C: Lifting the underwater working device of the door slot: release the fixing device of the adjusting device on the truss body, and the crane lifts the underwater working device of the door slot up a measuring stroke; S03: Analyze the verticality of the working surface of the main rail and / or the counter rail of the door slot according to the measurement data of step S02; then determine the required processing position of the working surface of the main rail and / or the counter rail according to the analysis result, and divide the required processing position of the working surface of the main rail and / or the counter rail into several processing strokes; S04: according to the processing stroke determined in step S03, the underwater working device of the gate slot is moved to one of the processing strokes required for the main rail by a crane; S05: using a first verticality measuring device to measure the verticality of the vertical guide rail, and using an adjusting and fixing device to fix the truss body to the door slot; S06: operating the mobile device to drive the installation platform upward and synchronously using the second verticality measuring device to measure the verticality error of the working surface of the main rail and / or the counter rail until the mobile device drives the installation platform to move upward to the top of the processing stroke of the mobile device and then stops; then analyzing the verticality of the working surface of the main rail and / or the counter rail at the processing stroke of the door slot according to the measurement data of the processing stroke, and determining the position that needs to be processed within the processing stroke; S07: driving the mechanical processing module of the mounting platform to move to the position to be processed within the processing stroke by the moving device, and then processing the position to be processed within the processing stroke by the mechanical processing module; S08: Run step S06. If the processing size does not meet the requirements, secondary processing is required, and return to S07; if the processing size meets the requirements, return to S04 until all the processing strokes that need to be processed are completed; S09: Re-measurement of the working surface of the main rail and / or counter rail: After processing is completed, measure the verticality of the working surface of the main rail and / or counter rail.

Images