Swing mechanical arm device and method for pin penetrating and withdrawing of gate pull rod of hydropower station

Abstract

The swing mechanical arm device comprises a stand column, the stand column is provided with an up-and-down micro-motion constraint spring and a supporting arm, and the up-and-down micro-motion constraint spring is used for achieving up-and-down adjustment of the supporting arm; a left-right restraining spring mounting shaft is arranged on the supporting arm, a left-right micro-motion restraining spring and a sliding base are arranged on the left-right restraining spring mounting shaft, and the left-right micro-motion restraining spring is used for achieving left-right micro-motion compensation of the sliding base; a swing arm mechanism is arranged on the stand column and used for driving the supporting arm to rotate around the stand column. The sliding base is connected with the centering suction cup.

Description

Technical Field

[0001] The invention belongs to the technical field of the pull rod inserting and removing pin device for the gate of a hydropower station, and particularly relates to a swinging robotic arm device and method for inserting and removing the pull rod of the gate of a hydropower station. Background Art

[0002] In the operation and maintenance management of hydropower station equipment, we are involved in many tasks such as inserting and removing pins of pull rods at the gate orifice. Especially in the working conditions where the gate is lifted and lowered through the pull rod structure type, during the process of lifting and lowering the gate, there will be frequent connection and disassembly of the pull rod in the middle part of the orifice, and it is very dangerous to carry out operations at the suspended part in the middle span. At present, such operations are mainly directly carried out by workers at the orifice part. First, it is necessary to cooperate with a lifting device to lift the cover plate at the orifice part by the operator, then build a cross-orifice working platform at the orifice part to carry out the connection and removal of the pull rod, and set up a safety protection fence around the orifice to ensure the safety of operations in the orifice area. During the above operation process, the operators are all involved in working at the edge and over the orifice, and there is a risk of falling from a height. How to safely, efficiently and effectively complete the safety maintenance of the pull rod in the gate orifice area is an urgent problem for our maintenance management personnel to solve. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a swinging robotic arm device and method for inserting and removing the pull rod of the gate of a hydropower station. The device is swung by an external driving force, then docked with the handwheel of the pull rod, and the handwheel is driven to rotate by the power-on and power-off of an externally connected driving motor, so as to complete the operation of inserting and removing the connecting shaft of the pull rod, realizing the full-automatic operation of the pull rod connection at the orifice part, providing an effective safety guarantee for the full protection of personnel at the orifice part, and ensuring the safety of operations in the orifice area.

[0004] In order to solve the above technical problem, the technical solution adopted by the present invention is as follows: A swinging robotic arm device for inserting and removing the pull rod of the gate of a hydropower station, including a column, on which an up-and-down micro-motion constraint spring and a support arm are installed, and the up-and-down micro-motion constraint spring is used to realize the up-and-down adjustment of the support arm; on the support arm, there is a left-and-right constraint spring mounting shaft, and on the left-and-right constraint spring mounting shaft, there are a left-and-right micro-motion constraint spring and a sliding base, and the left-and-right micro-motion constraint spring is used to realize the left-and-right micro-motion compensation of the sliding base; On the column, there is a swing arm mechanism, and the swing arm mechanism is used to drive the support arm to rotate around the column; The sliding base is connected with a centering suction cup. Preferably, the column includes a base mounting plate, a support arm support seat and a vertical rod, the mounting plate is connected with the vertical rod, and the support arm support seat is installed on the vertical rod; the support arm support seat is used to connect with the support arm; The base mounting plate is provided with bolt mounting holes; the support arm support seat is provided with swing drive wheel shaft mounting holes.

[0005] Preferably, the up-and-down fine-motion constraint spring includes an upper fine-motion constraint spring and a lower fine-motion constraint spring; the upper fine-motion constraint spring and the lower fine-motion constraint spring are respectively located on the upper and lower sides of the support arm.

[0006] Preferably, the support arm includes a bracket, and the bracket is provided with a left-and-right constraint spring mounting shaft, a mounting cylinder, a sliding base chute, a limit chute, and a mounting seat; The mounting cylinder is sleeved on the vertical rod, and the upper fine-motion constraint spring and the lower fine-motion constraint spring are respectively located on the upper and lower sides of the mounting cylinder; The left-and-right constraint spring mounting shaft is fixed to the bracket through the mounting seat; The limit chute is adapted to the sliding base; The sliding base chute corresponds to the position of the left-and-right constraint spring mounting shaft. Preferably, the left-and-right fine-motion constraint spring includes a left fine-motion constraint spring and a right fine-motion constraint spring, and a sliding base is provided between the left fine-motion constraint spring and the right fine-motion constraint spring.

[0007] Preferably, the swing arm mechanism is installed on the upper part of the column, and the swing arm mechanism includes a driving motor, a driving bevel gear, a driven bevel gear, a driving gear mounting shaft, a driving gear, a driven gear, and; The driven gear is installed on the outer wall of the mounting cylinder and is coaxial with the mounting cylinder; the driven gear meshes with the driving gear, the driving gear is coaxially connected with the driving gear mounting shaft, the driving gear mounting shaft is connected with the driven bevel gear, the driven bevel gear meshes with the driving bevel gear, and the driving bevel gear is driven by the driving motor to rotate.

[0008] Preferably, the swing arm mechanism further includes a protective cover, the driving motor, the driving bevel gear, and the driven bevel gear are installed in the protective cover, and the protective cover is fixed to the top of the column.

[0009] Preferably, the sliding base includes a sliding shaft, a through hole for avoiding the transmission shaft of the inserting and withdrawing pin, a limiting shaft, a through hole for avoiding the left-and-right constraint shaft, and a mounting seat; The through hole for avoiding the left-and-right constraint shaft is adapted to the left-and-right constraint spring mounting shaft; The mounting seat is used for installing the rotating motor; The sliding shaft is installed in the sliding base chute; The limiting shaft is installed in the limit chute.

[0010] Preferably, the centering suction cup includes a through hole for avoiding the threaded shaft of the pull rod, an axial guiding conical surface, a handwheel guiding bevel surface, a handwheel limiting groove, a magnetic component, a mounting hole for the handwheel in-place detection element, and a suction cup mounting hole; The avoidance hole for the pull rod threaded shaft is arranged at the center of the centering suction cup; on one side of the centering suction cup, there are multiple handwheel guiding inclined surfaces, which are arranged annularly around the avoidance hole for the pull rod threaded shaft. An axial guiding conical surface is provided between two handwheel guiding inclined surfaces; the bottom of the handwheel guiding inclined surface is a handwheel limiting groove; On the other side of the centering suction cup, there are a suction cup mounting hole and multiple handwheel in-place detection element mounting holes. The suction cup mounting hole is used to connect with the rotating mechanism.

[0011] Preferably, the rotating mechanism includes a rotating motor, a coupling, a transmission shaft and a cross connecting shaft; the rotating motor is connected to the transmission shaft through the coupling, and the transmission shaft is connected to the cross connecting shaft; the rotating motor is used to drive the centering suction cup to rotate.

[0012] An operation method of a swinging robotic arm device for the pull rod pin insertion and removal of a hydropower station gate includes the following steps: I. Installation steps: S1: The swinging robotic arm device is installed on the base surface at the orifice of the gate slot. After it rotates 90°, it should be in contact with the handwheel surface to ensure that the centering suction cup of the device can be fully in contact with the handwheel; S2: According to the central height of the pull rod pin insertion and removal handwheel, adjust the upper and lower micro-motion constraint springs so that the center of the centering suction cup is in the same height direction as the handwheel; adjust the left and right micro-motion constraint springs so that the center of the centering suction cup is in the same left and right direction as the handwheel; thus, the device and the handwheel are in the same up and down and left and right directions, ensuring effective centering of the device and the pull rod pin insertion and removal device handwheel; II. Device working method, pin insertion process: S1: The device receives the signal of "insert pull rod pin" sent by the system; S2: The swing arm mechanism is powered on and swings, which is judged by the system or manually; a. System judgment, when the control receives the signal of "insert pull rod pin", and the boom position monitoring device monitors that the current position of the boom is at the 0° position, the swing arm mechanism starts to be powered on and swing the boom. When approaching the pull rod pin insertion and removal device handwheel, under the guiding action of the axial guiding conical surface of the centering suction cup, the centering suction cup is slowly guided into the handwheel until the swing angle reaches the 90° position and stops; b. Manual judgment, after the background operation monitoring personnel confirm the boom position, stop; S3: The suction cup is locked in the groove, which is judged by the system or manually; a. System judgment, when the control receives the signal of "insert pull rod pin", and the boom position monitoring device monitors that the current position of the boom is at the 90° position, the rotating mechanism starts to be powered on and rotate slightly. Under the guiding action of the handwheel guiding inclined surface of the centering suction cup, the handwheel limiting groove slowly fits with the handwheel. When all the detection devices in the handwheel limiting groove send signals, stop; b. Manual judgment, after the background operation monitoring personnel confirm the suction cup position, stop; S4: The centering suction cup is energized and the system determines a. The system determines that when the control receives the "through-pull rod pin" signal, the arm position monitoring device detects that the arm is at the 90° position, and all the detection devices in the handwheel limit slot send signals, the system's magnetic attraction device begins to receive power and attracts the handwheel, and maintains power and attraction; S5: The rotating mechanism is powered and the system determines: a. The system determines that the pull rod pin-threading and pin-removing device is in the pin-removing position, and the device transmission mechanism starts rotating the pin-threading operation; S6: Stop when the pin is in position, determined by the system or manually: a. The system determines that the pull rod pinning and retracting device is in the pinning position, the device transmission mechanism loses power, and the device stops; b. Manual judgment: After the backstage operation monitoring personnel confirm the position of the tie rod pin, the car will be stopped; S7: The swing arm mechanism is energized and swings, which is determined by the system or manually; c. System judgment: When the system detects that the state is the pin between the pull rods, the swing arm mechanism will swing the arm to 45 degrees and the car will stop; when the system detects that the state is the pin between the pull rod and the gate, the swing arm mechanism will swing the arm to 0 degrees and the car will stop; d. Manual judgment: After the backstage operation monitoring personnel confirm the arm position, the machine stops; 3.Return process: S1: The device receives the pinning signal from the system; S2: The swing arm mechanism is energized and swings, which is determined by the system or manually; a. When the system determines that the control receives the "pull rod pin withdrawal" signal and the arm position monitoring device detects that the arm is currently at 0°, the swing arm mechanism begins to receive power and swing the arm. When it approaches the handwheel of the pull rod pin withdrawal device, the centering suction cup is slowly guided into the handwheel under the guidance of the axial guide cone of the centering suction cup until the swing angle reaches 90°, and the vehicle stops; b. Manual judgment: After the backstage operation monitoring personnel confirm the arm position, the car stops; S3: The suction cup is locked into the slot, determined by the system or manually; a. The system determines that when the control receives the "pull rod pin" signal and the arm position monitoring device detects that the arm is currently at 90°, the rotating mechanism begins to rotate slightly when powered. Under the guidance of the handwheel guide slope, the centering suction cup slowly fits the handwheel limit groove. When all the detection devices in the handwheel limit groove send signals, the vehicle stops; b. Manual judgment: After the backstage operation monitoring personnel confirm the position of the suction cup, the car will be stopped; S4: The centering suction cup is energized and the system determines a. The system determines that when the received control signal is "retract the pull rod pin shaft", and the boom position monitoring device monitors that the boom is at the 90° position, after all the detection devices in the handwheel limit groove send signals, the system magnetic attraction device starts to be energized and adsorbs to the handwheel, and remains energized and adsorbed; S5: The rotating mechanism is energized to retract the pin, and the system determines a. The system determines that the detection pull rod through-pin and retract-pin device is in the pin-through position, and the device transmission mechanism starts to rotate for retracting the pin operation; S6: Stop when the pin retraction is in place, and the system determines or manually determines: a. The system determines that the detection pull rod through-pin and retract-pin device is in the pin-retracted position, the device transmission mechanism loses power, and stops; b. Manually determine that after the background operation monitoring personnel confirm the position of the pull rod pin shaft, stop; S7: The swing arm mechanism is energized to swing, and the system determines or manually determines; a. The system determines that when the system detects the pin shaft state between the pull rods, after the swing arm mechanism swings the boom to the 45° position, it stops; when the system detects the pin shaft state between the pull rod and the gate, after the swing arm mechanism swings the boom to the 0° position, it stops; b. Manually determine that after the background operation monitoring personnel confirm the position of the boom, stop.

[0013] The present invention can achieve the following beneficial effects: The present invention swings the device through an external driving force, then docks with the handwheel of the pull rod, and drives the handwheel to rotate by the power-on and power-off of the externally connected driving motor, thereby completing the through-pin and retract operations of the pull rod connecting shaft, realizing the fully automated operation of the pull rod connection at the orifice part, providing an effective safety guarantee for the full protection of the personnel at the orifice part, and ensuring the safety of the work in the orifice area.

[0014] This device can automatically perform the through-pin and retract operations on the connecting shaft of the pull rod, can control the swing angle of the robotic arm of the device through a program, can effectively connect and cooperate with the rotating handle of the pull rod, and realize the effective connection and disconnection functions of the pull rod connecting shaft under the action of the pin-pushing motor, ensuring the automated operation of the gate during lifting and lowering. Description of the Drawings

[0015] The following further describes the present invention in conjunction with the drawings and embodiments: Figure 1 It is a three-dimensional structure diagram of a swinging robotic arm for the through-pin and retract of the gate pull rod of the present invention; Figure 2 It is a schematic structural diagram of the column of the present invention; Figure 3 It is a schematic installation diagram of the upper and lower micro-motion constraint springs of the present invention; Figure 4 It is a schematic structural diagram of the boom of the present invention; Figure 5 Schematic diagram for installing the left - right fine - movement restraint spring of the present invention; Figure 6 Schematic diagram for installing the swing arm mechanism of the present invention; Figure 7 Schematic diagram of the structure of the locking beam body of the present invention; Figure 8 Schematic diagram of the structure of the centering suction cup (front) of the present invention; Figure 9 Schematic diagram of the structure of the centering suction cup (back) of the present invention; Figure 10 Schematic diagram of the structure of the rotating mechanism of the present invention; Figure 11 Field application diagram of a swing robotic arm device for inserting and removing pins of a penstock in a hydropower station gate of the present invention.

[0016] In the figure: 0 - concrete dam; 01 - gate opening; 1 - lifting equipment hook; 5 - penstock; 51 - pin inserting / removing device for the penstock; 511 - handle of the pin inserting / removing device for the penstock; 4 - swing robotic arm device for inserting and removing pins of the penstock in the hydropower station gate; 41 - column; base mounting plate 411; arm support seat 412; bolt mounting hole 411 - 1; swing drive wheel shaft mounting hole 412 - 1; 42 - upper and lower fine - movement restraint springs; upper fine - movement restraint spring 421; upper and lower fine - movement restraint springs 422; 43 - arm; bracket 431; left - right restraint spring mounting shaft 432; mounting cylinder 431 - 1; sliding base chute 431 - 2; limit chute 431 - 3; mounting seat 431 - 4; 44 - left - right fine - movement restraint springs; left fine - movement restraint spring 441; right fine - movement restraint spring 442; 45 - swing arm mechanism; 541 - drive motor; 452 - drive bevel gear; 453, driven bevel gear; 454 - drive gear mounting shaft; 455 - drive gear; 456 - driven gear; 457 - protective cover; 46 - sliding base; sliding shaft 46 - 1; through - hole for avoiding the pin inserting / removing transmission shaft 46 - 2; limit shaft 46 - 3; left - right restraint shaft avoiding hole 46 - 4; mounting seat 46 - 5; 47 - centering suction cup; 48 - rotating mechanism; 481 - rotating motor; 482 - coupling; 483 - transmission shaft; 484 - cross - connecting shaft; 491 - arm position monitoring device; 492 - centering suction cup position monitoring device. Detailed implementation manners

[0017] The preferred solution is as Figures 1 to 11As shown in the figure, a swinging robotic arm device for the insertion and removal of pins in the tie rod of a hydropower station gate is composed of three parts: a basic support frame, a pin insertion / removal mechanism, and a safety control system. Among them, the basic support frame is the main support component of the present invention, which is fixedly installed at the orifice part and can swing according to the working requirements to achieve effective contact between the device of the present invention and the pin shaft device. It is composed of a column, upper and lower micro-motion constraint springs, a swing arm mechanism, and a support arm; the pin insertion / removal mechanism is the main functional component of the present invention, which can realize the automatic centering and locking functions with the pin shaft handle, and then drive the tie rod pin shaft to perform pin insertion / removal work to achieve effective connection and separation of the tie rods. It is composed of a sliding base, a centering suction cup, and a rotating mechanism; the safety control system mainly detects the position state of the device swing arm and the centering state of the centering suction cup and the pin shaft handle. When the position of the device mechanism does not match the working condition requirements of the operation, it issues an audible and visual alarm and timely transmits the signal to the control system, which can realize emergency shutdown to ensure the safe operation of the equipment.

[0018] The structures and functions of the various components of the present invention are as follows: 1. The column 41 is the main support component of the present invention, which is installed at the gate orifice part to provide an installation base frame for the device. It is mainly composed of a base mounting plate 411, a support arm support seat 412, and a vertical rod 413. The base mounting plate 411 is provided with 4 bolt mounting holes 411-1, and the support arm support seat 412 is provided with a swing drive wheel shaft mounting hole 412-1.

[0019] 2. The upper and lower micro-motion constraint springs 42 are installed at the upper end of the vertical rod 413, which can realize the up and down micro-motion compensation of the support arm 43 on the vertical rod 413 to ensure that the rotating mechanism on the support arm 43 can automatically center with the tie rod pin shaft handwheel up and down, ensuring the safe operation of the mechanism.

[0020] 3. The support arm 43 is a special product, which is an overall triangular sheet-like structural member, mainly composed of a bracket 431 and left and right constraint spring mounting shafts 432. The bracket 431 is provided with an installation cylinder 431-1, a sliding base chute 431-2, a limiting chute 431-3, and an installation seat 431-4. Its installation cylinder 431-1 is sleeved above the support arm support seat 412 of the column 41, and upper and lower micro-motion constraint springs 42 are installed at the upper and lower parts, which can realize the up and down micro-motion of the support arm.

[0021] 4. The left and right micro-motion constraint springs 44 are installed on the left and right constraint spring mounting shafts 432, which can realize the left and right micro-motion compensation of the sliding base 46 on the support arm 43 to ensure that the rotating mechanism on the support arm 43 can automatically center with the tie rod pin shaft handwheel up and down, ensuring the safe operation of the mechanism.

[0022] 5. Swing arm mechanism 45, fixedly installed at the uppermost end of the column 41, is the main swing arm mechanism of the present invention. It realizes the on-demand swing of the support arm 43 at the positions of 0°, 45° and 90° through the control system. It consists of a driving motor 451, a driving bevel gear 452, a driven bevel gear 453, a driving gear mounting shaft 454, a driving gear 455, a driven gear 456 and a protective cover 457.

[0023] 6. Sliding base 46, which is the main support base of the rotating mechanism of the present invention, is used to support the installation of the rotating motor 481 and provides the power source for the insertion / withdrawal pin mechanism to perform the insertion / withdrawal pin operation. It mainly consists of a sliding shaft 46-1, an insertion / withdrawal pin transmission shaft avoidance through hole 46-2, a limiting shaft 46-3, left and right restraint shaft avoidance holes 46-4 and a mounting seat 46-5. Among them, the sliding shaft 46-1 is installed in the sliding base chute 431-2 and can slide along the chute to realize the automatic centering function of the centering suction cup 47 in the left and right directions. The limiting shaft 46-3 is installed in the limiting chute 431-3 to prevent the sliding base 46 from rotating during the insertion / withdrawal pin rotation process of the device and ensure the safe use of the mechanism.

[0024] 7. Centering suction cup 47, a customized product, is the main automatic centering component of the device of the present invention. It can automatically center and lock with the drawbar insertion / withdrawal pin handwheel, realizing the effective connection between the invention device and the operating handwheel. Its body is provided with a drawbar threaded shaft avoidance hole 47-1, an axial guiding conical surface 47-2, a handwheel guiding inclined surface 47-3, a handwheel limiting groove 47-4, a magnetic component 47-5, a handwheel in-place detection element mounting hole 47-6 and a suction cup mounting hole 47-7. The axial guiding conical surface 47-2 can automatically center with the concave surface of the handwheel, and then through the rotation of the rotating mechanism and under the guidance of the handwheel guiding inclined surface 47-3, the handwheel limiting groove 47-4 of the centering suction cup 47 is fitted with the handwheel, realizing the final automatic centering of the centering device. When the system detects that the centering function is completed, the device is powered on to firmly suck the handwheel and the centering suction cup, ensuring the effective rotation of the subsequent device driving the handwheel.

[0025] The magnetic component 47-5 is an annular structural member, installed on the side of the centering suction cup 47 close to the handwheel 511, and is powered by a slip ring power supply mode. After being energized, it adsorbs. After being energized, the internal coil of the magnetic component 47-5 generates a magnetic field, and the magnetic lines of force form a closed magnetic circuit through the iron core (magnetic conductor), generating a strong magnetic force on the surface of the magnetic component, which can firmly suck the handwheel 511 and prevent the centering suction cup 47 from separating from the handwheel 511 during the rotation process; power-off demagnetization: after cutting off the power supply, the internal magnetic field of the magnetic component 47-5 disappears, and the device releases the suction on the handwheel 511, preparing for the separation of the centering suction cup 47 and the handwheel 511.

[0026] The cross connecting shaft 484 is connected to the suction cup mounting hole 47-7; The centering suction cup 47 is used to sleeve outside the handwheel 511 of the pull rod inserting / removing pin device. The rotation motor 48 drives the centering suction cup 47 to rotate, thereby driving the handwheel 511 of the pull rod inserting / removing pin device to rotate, and further realizing the replacement of manual operation by mechanical operation.

[0027] Correspondingly, the threaded shaft avoidance hole 47-1 is adapted to the threaded shaft of the pull rod inserting / removing device; The magnetic part 47-5, the handwheel guiding inclined surface 47-3, the axial guiding conical surface 47-2 and the handwheel limiting groove 47-4 are adapted to the shape of the handwheel 511 of the pull rod inserting / removing pin device.

[0028] 8. The rotating mechanism 48 is the main component for the inserting / removing pin function of the present invention. The mechanism rotates slightly under the action of the control system to complete the operation of the handle entering the slot. When the system detects that the handle enters the slot, it is electrified and adsorbed to effectively connect the device with the handwheel, and then starts to rotate to perform the inserting / removing pin work. Its body is installed on the sliding base 46 and is effectively connected to the suction cup mounting hole 47-7 through the cross connecting shaft 484. It mainly consists of a rotating motor 481, a coupling 482, a transmission shaft 483 and a cross connecting shaft 484.

[0029] 9. The safety control system 49 mainly consists of a boom position monitoring device 491 and a centering suction cup position monitoring device 492. The boom position monitoring device 491 is installed at the upper end of the vertical rod 41 and can effectively monitor the position states of the boom 43 at 0°, 45° and 90° to ensure the safe use of the boom; the centering suction cup position monitoring device 492 is installed on the suction cup limiting groove and can effectively monitor the centering and slotting conditions of the centering suction cup 47 and the handwheel to ensure the safe use of the centering suction cup; A swinging robotic arm device and method for inserting / removing pins of a penstock gate pull rod are as follows: I. Installation steps: S1: Device installation. Install on the base surface at the orifice of the penstock gate slot 03. After rotating 90°, it should be in contact with the handwheel surface to ensure that the centering suction cup of the device can be completely in contact with the handwheel; S2: Device pre-adjustment. According to the center height of the handwheel of the pull rod inserting / removing pin, adjust the upper and lower micro-motion constraint springs 42 so that the center of the centering suction cup 47 is in the same height direction as the handwheel; adjust the left and right micro-motion constraint springs 44 so that the center of the centering suction cup 47 is in the same left and right direction as the handwheel; thereby realizing the consistency of the device and the handwheel in the up and down and left and right directions, and ensuring the effective centering of the device and the handwheel of the pull rod inserting / removing pin device; II. Device working method, pin inserting process: S1: The device receives the signal of "inserting the pull rod pin" sent by the system; S2: The swing arm mechanism is electrified and swings, which is judged by the system or manually; a. The system determines that when the control receives the signal of "inserting the pull rod pin shaft", and the boom position monitoring device 491 monitors that the current position of the boom is at the 0° position, the swing arm mechanism 45 starts to be powered on to swing the boom. When approaching the handwheel of the pull rod inserting / removing pin device, under the guiding action of the axial guiding cone surface 47-2 of the centering suction cup 47, the centering suction cup 47 is slowly guided into the handwheel until the swing angle reaches the 90° position, and then stops; b. Manually determine. After the background operation monitoring personnel confirm the boom position, stop; S3: The suction cup enters the groove and locks, determined by the system or manually; a. The system determines that when the control receives the signal of "inserting the pull rod pin shaft", and the boom position monitoring device 491 monitors that the current position of the boom is at the 90° position, the rotating mechanism 48 starts to be powered on for micro-rotation. Under the guiding action of the guiding inclined surface 47-3 of the handwheel on the centering suction cup 47, the handwheel limiting groove 47-4 slowly fits with the handwheel. When all the detection devices in the handwheel limiting groove send signals, stop; b. Manually determine. After the background operation monitoring personnel confirm the position of the suction cup, stop; S4: The centering suction cup is powered on and sucked, determined by the system: a. The system determines that when the control receives the signal of "inserting the pull rod pin shaft", the boom position monitoring device 491 monitors that the boom is at the 90° position, and after all the detection devices in the handwheel limiting groove 492 send signals, the system magnetic suction device starts to be powered on to adsorb with the handwheel and maintains the power-on adsorption; S5: The rotating mechanism is powered on to insert the pin, determined by the system: a. The system determines that the detection of the pull rod inserting / removing pin device is in the position of the pin removed in place, and the device transmission mechanism starts to rotate for the pin insertion operation; S6: Stop when the pin insertion is in place, determined by the system or manually: a. The system determines that the detection of the pull rod inserting / removing pin device is in the position of the pin inserted in place, the device transmission mechanism loses power, and stops; b. Manually determine. After the background operation monitoring personnel confirm the position of the pull rod pin shaft, stop; S7: The swing arm mechanism is powered on to swing, determined by the system or manually; c. The system determines that when the system detects the pin shaft state between the pull rods, the swing arm mechanism swings the boom to the 45° position and then stops; when the system detects the pin shaft state between the pull rod and the gate, the swing arm mechanism swings the boom to the 0° position and then stops; d. Manually determine. After the background operation monitoring personnel confirm the boom position, stop; Pin removal process: S1: The device receives the pin insertion signal sent by the system; S2: The swing arm mechanism is powered on to swing, determined by the system or manually; a. When the system determines that the signal received by the control is "retract the drawbar pin", and the boom position monitoring device 491 monitors that the current position of the boom is at the 0° position, the swing arm mechanism 45 starts to be energized to swing the boom. When approaching the handwheel of the drawbar insertion / retraction device, under the guiding action of the axial guiding cone surface 47-2 of the centering suction cup 47, the centering suction cup 47 is slowly guided into the handwheel until the swing angle reaches the 90° position, and then stops; b. Manually determine. After the background operation monitor confirms the boom position, stop; S3: The suction cup is locked into the groove, determined by the system or manually; a. When the system determines that the signal received by the control is "retract the drawbar pin", and the boom position monitoring device 491 monitors that the current position of the boom is at the 90° position, the rotating mechanism 48 starts to be energized for micro-rotation. Under the guiding action of the handwheel guiding inclined surface 47-3 of the centering suction cup 47, the handwheel limiting groove 47-4 slowly fits with the handwheel. When all the detection devices in the handwheel limiting groove 492 send signals, stop; b. Manually determine. After the background operation monitor confirms the position of the suction cup, stop; S4: The centering suction cup is energized to suck and hold, determined by the system: a. When the system determines that the signal received by the control is "retract the drawbar pin", the boom position monitoring device 491 monitors that the boom is at the 90° position, and after all the detection devices in the handwheel limiting groove 492 send signals, the system magnetic suction device starts to be energized to adsorb with the handwheel and remains energized for adsorption; S5: The rotating mechanism is energized to retract the pin, determined by the system: a. When the system determines that the drawbar insertion / retraction device is in the pin insertion in-place position, the device transmission mechanism starts to rotate for pin retraction operation; S6: Stop when the pin retraction is in place, determined by the system or manually: a. When the system determines that the drawbar insertion / retraction device is in the pin retraction in-place position, the device transmission mechanism loses power and stops; b. Manually determine. After the background operation monitor confirms the position of the drawbar pin, stop; S7: The swing arm mechanism is energized to swing, determined by the system or manually; a. When the system detects the pin state between the drawbars, after the swing arm mechanism swings the boom to the 45° position, stop; when the system detects the pin state between the drawbar and the gate, after the swing arm mechanism swings the boom to the 0° position, stop; b. Manually determine. After the background operation monitor confirms the boom position, stop.

[0030] The above embodiments are only the preferred technical solutions of the present invention and should not be regarded as limitations on the present invention. The protection scope of the present invention shall be the technical solutions recited in the claims, including the equivalent replacement solutions of the technical features in the technical solutions recited in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present invention.

Claims

1. A swinging robotic arm device for inserting and removing pins of the gate tie rod of a hydropower station, characterized in that: It includes a vertical column, on which an up-and-down micro-movement restraint spring and a support arm are installed. The up-and-down micro-movement restraint spring is used to achieve the up-and-down adjustment of the support arm; on the support arm, there is a left-and-right restraint spring mounting shaft, on which a left-and-right micro-movement restraint spring and a sliding base are provided. The left-and-right micro-movement restraint spring is used to achieve the left-and-right micro-movement compensation of the sliding base; On the vertical column, there is a swing arm mechanism, which is used to drive the support arm to rotate around the vertical column; The sliding base is connected to the centering suction cup.

2. The swing robotic arm device for the pull-in and pull-out pin of the gate tie rod of a hydropower station according to claim 1, characterized in that: The vertical column includes a base mounting plate, a support arm support seat and a vertical rod. The mounting plate is connected to the vertical rod, and the support arm support seat is installed on the vertical rod; the support arm support seat is used to connect with the support arm; The base mounting plate is provided with bolt mounting holes; the support arm support seat is provided with swing drive wheel shaft mounting holes.

3. The swing robotic arm device for the pull-out and insertion pin of the gate tie rod of a hydropower station according to claim 2, characterized in that: The up-and-down micro-movement restraint spring includes an upper micro-movement restraint spring and a lower micro-movement restraint spring; the upper micro-movement restraint spring and the lower micro-movement restraint spring are respectively located on the upper and lower sides of the support arm.

4. The swinging robotic arm device for inserting and removing pins of the gate tie rod of a hydropower station according to claim 3, characterized in that: The support arm includes a bracket, on which there are a left-and-right restraint spring mounting shaft, a mounting cylinder, a sliding base chute, a limit chute and a mounting seat; The mounting cylinder is sleeved on the vertical rod, and the upper micro-movement restraint spring and the lower micro-movement restraint spring are respectively located on the upper and lower sides of the mounting cylinder; The left-and-right restraint spring mounting shaft is fixed on the bracket through the mounting seat; The limit chute is adapted to the sliding base; The sliding base chute corresponds to the position of the left-and-right restraint spring mounting shaft.

5. The swinging robotic arm device for inserting and removing pins of the gate tie rod of a hydropower station according to claim 4, wherein: The left-and-right micro-movement restraint spring includes a left micro-movement restraint spring and a right micro-movement restraint spring, and a sliding base is provided between the left micro-movement restraint spring and the right micro-movement restraint spring.

6. The swinging robotic arm device for inserting and removing pins of the gate tie rod of a hydropower station according to claim 4, characterized in that: The swing arm mechanism is installed on the upper part of the vertical column. The swing arm mechanism includes a drive motor, a drive bevel gear, a driven bevel gear, a drive gear mounting shaft, a drive gear, a driven gear and; The driven gear is installed on the outer wall of the mounting cylinder and is coaxial with the mounting cylinder; The driven gear meshes with the drive gear. The drive gear is coaxially connected with the drive gear mounting shaft. The drive gear mounting shaft is connected with the driven bevel gear. The driven bevel gear meshes with the drive bevel gear. The drive bevel gear is driven by the drive motor to rotate.

7. The swinging robotic arm device for inserting and removing pins of the gate tie rod of a hydropower station according to claim 6, characterized in that: The swing arm mechanism also includes a protective cover. The drive motor, the drive bevel gear and the driven bevel gear are installed in the protective cover, and the protective cover is fixed on the top of the vertical column.

8. The swing robotic arm device for the pull-out and insertion pin of the gate tie rod of a hydropower station according to claim 5, characterized in that: The sliding base includes a sliding shaft, a through hole for avoiding the transmission shaft of the push-pull pin, a limit shaft, a through hole for avoiding the left-and-right restraint shaft and a mounting seat; The through hole for avoiding the left-and-right restraint shaft is adapted to the left-and-right restraint spring mounting shaft; The mounting seat is used to install a rotation motor; The sliding shaft is installed in the sliding base chute; The limit shaft is installed in the limit chute.

9. The swing robotic arm device for a pull-out and insertion pin of a gate tie rod in a hydropower station according to claim 8, characterized in that: The centering suction cup includes a through hole for avoiding the threaded shaft of the pull rod, an axial guiding conical surface, a handwheel guiding bevel surface, a handwheel limit groove, a magnetic part, a mounting hole for a handwheel in-place detection element and a suction cup mounting hole; The through hole for avoiding the threaded shaft of the pull rod is arranged at the center of the centering suction cup. On one side of the centering suction cup, there are a plurality of handwheel guiding bevel surfaces, which are arranged annularly around the through hole for avoiding the threaded shaft of the pull rod. An axial guiding conical surface is between two handwheel guiding bevel surfaces; the bottom of the handwheel guiding bevel surface is a handwheel limit groove; On the other side of the centering suction cup, there are a suction cup mounting hole and a plurality of mounting holes for handwheel in-place detection elements. The suction cup mounting hole is used to connect with the rotation mechanism.

10. A swing robotic arm device for a pull-out and push-in pin of a gate tie rod of a hydropower station according to claim 9, characterized in that: The rotating mechanism includes a rotating motor, a coupling, a transmission shaft and a cross connecting shaft; the rotating motor is connected to the transmission shaft through the coupling, and the transmission shaft is connected to the cross connecting shaft; the rotating motor is used to drive the centering suction cup to rotate.

11. The operating method of a swinging robotic arm device for the insertion and removal of pins of a penstock tie rod in a hydropower station according to any one of claims 1-10, characterized in that The following steps are involved:

1. Installation steps: S1: The swinging mechanical arm device is installed on the base surface of the gate slot opening. After rotating 90 degrees, it should fit in with the handwheel surface to ensure that the centering suction cup of the device can fit completely with the handwheel; S2: Adjust the upper and lower micro-motion restraint springs according to the center height of the handwheel for the pull rod threading and retraction pin, so that the center of the centering suction cup is aligned with the handwheel in the vertical direction; adjust the left and right micro-motion restraint springs so that the center of the centering suction cup is aligned with the handwheel in the left and right direction; thereby achieving the alignment of the device and the handwheel in the vertical and left and right directions, ensuring effective centering of the device and the handwheel of the pull rod threading and retraction pin device; 2. Device working method and pinning process: S1: The device receives the "threading rod pin" signal from the system; S2: The swing arm mechanism is energized and swings, which is determined by the system or manually; a. When the system determines that the control receives the "draw rod pin" signal and the arm position monitoring device detects that the arm is currently at 0°, the swing arm mechanism receives power and begins to swing the arm. When it approaches the handwheel of the draw rod pin removal device, the centering suction cup is slowly guided into the handwheel under the guidance of the axial guide cone of the centering suction cup until the swing angle reaches 90°, and the vehicle stops. b. Manual judgment: After the backstage operation monitoring personnel confirm the arm position, the car stops; S3: The suction cup is locked into the slot, determined by the system or manually; a. The system determines that when the control receives the "pull rod pin" signal and the arm position monitoring device detects that the arm is currently at 90°, the rotating mechanism begins to rotate slightly. Under the guidance of the handwheel guide slope, the centering suction cup slowly fits the handwheel limit groove. When all the detection devices in the handwheel limit groove have sent signals, the vehicle stops; b. Manual judgment: After the backstage operation monitoring personnel confirm the position of the suction cup, the car will be stopped; S4: The centering suction cup is energized and the system determines a. The system determines that when the control receives the "pull rod pin" signal, the arm position monitoring device detects that the arm is at the 90° position, and all the detection devices in the handwheel limit slot have sent signals, the system's magnetic attraction device begins to receive power and attracts the handwheel, and maintains power and attraction; S5: The rotating mechanism is powered and the system determines: a. The system determines that the pull rod pin-threading and pin-removing device is in the pin-removing position, and the device transmission mechanism starts rotating the pin-threading operation; S6: Stop when the pin is in position, determined by the system or manually: a. The system determines that the pull rod pinning and retracting device is in the pinning position, the device transmission mechanism loses power, and the device stops; b. Manual judgment: After the backstage operation monitoring personnel confirm the position of the tie rod pin, the car will be stopped; S7: The swing arm mechanism is energized and swings, which is determined by the system or manually; c. System judgment: When the system detects that the state is the pin between the pull rods, the swing arm mechanism will swing the arm to 45 degrees and the car will stop; when the system detects that the state is the pin between the pull rod and the gate, the swing arm mechanism will swing the arm to 0 degrees and the car will stop; d. Manual judgment: After the backstage operation monitoring personnel confirm the arm position, the machine stops; 3.Return process: S1: The device receives the pin insertion signal sent by the system; S2: The swing arm mechanism is powered on and swings, determined by the system or manually; a. System determination: When the control receives the "retract drawbar pin" signal and the boom position monitoring device monitors that the current position of the boom is at the 0° position, the swing arm mechanism starts to be powered on and swing the boom. When approaching the handwheel of the drawbar pin insertion / retraction device, under the guiding action of the axial guiding cone surface of the centering suction cup, the centering suction cup is slowly guided into the handwheel until the swing angle reaches the 90° position and stops; b. Manual determination: After the backstage operation monitoring personnel confirm the boom position, stop; S3: The suction cup enters the slot and locks, determined by the system or manually; a. System determination: When the control receives the "retract drawbar pin" signal and the boom position monitoring device monitors that the current position of the boom is at the 90° position, the rotating mechanism starts to be powered on and rotate slightly. Under the guiding action of the guiding inclined surface of the handwheel, the handwheel limiting slot slowly fits with the handwheel. When all the detection devices in the handwheel limiting slot send signals, stop; b. Manual determination: After the backstage operation monitoring personnel confirm the position of the suction cup, stop; S4: The centering suction cup is powered on and sucks, determined by the system a. System determination: When the control receives the "retract drawbar pin" signal, the boom position monitoring device monitors that the boom is at the 90° position, and after all the detection devices in the handwheel limiting slot send signals, the magnetic attraction device of the system starts to be powered on and adsorbs to the handwheel and remains powered on for adsorption; S5: The rotating mechanism is powered on to retract the pin, determined by the system a. System determination: Detect that the drawbar pin insertion / retraction device is in the pin insertion in-place position, and the device transmission mechanism starts to rotate for pin retraction operation; S6: Stop when the pin retraction is in place, determined by the system or manually: a. System determination: Detect that the drawbar pin insertion / retraction device is in the pin retraction in-place position, the device transmission mechanism loses power and stops; b. Manual determination: After the backstage operation monitoring personnel confirm the position of the drawbar pin, stop; S7: The swing arm mechanism is powered on and swings, determined by the system or manually; a. System determination: When the system detects the pin state between the drawbars, the swing arm mechanism swings the boom to the 45° position and then stops; when the system detects the pin state between the drawbar and the gate, the swing arm mechanism swings the boom to the 0° position and then stops; b. Manual determination: After the backstage operation monitoring personnel confirm the boom position, stop.

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