Swing mechanical arm device and method for water power station gate pull rod through pin

Abstract

A swing mechanical arm device and method for water power station gate pull rod plug-in and plug-out, comprising a stand, a up-down micro-motion constraint spring and a support arm are installed on the stand, the up-down micro-motion constraint spring is used to realize up-down adjustment of the support arm; a left-right constraint spring mounting shaft is arranged on the support arm, a left-right micro-motion constraint spring and a sliding base are arranged on the left-right constraint spring mounting shaft, the left-right micro-motion constraint spring is used to realize left-right micro-motion compensation of the sliding base; a swing arm mechanism is arranged on the stand, the swing arm mechanism is used to drive the support arm to rotate around the stand; the sliding base is connected with a centering suction cup.

Description

Technical Field

[0001] This invention belongs to the technical field of tie rod insertion and retraction pin device for hydropower station gates, and specifically relates to a swinging robotic arm device and method for inserting and retraction pins into tie rods of hydropower station gates. Background Technology

[0002] In the operation and maintenance management of hydropower station equipment, we often encounter tasks requiring the insertion and removal of tie rods at gate openings, particularly in situations where the gate is raised or lowered using a tie rod structure. During these operations, frequent connection and disassembly of tie rods are required in the middle of the opening, making these suspended sections extremely dangerous. Currently, these operations are primarily performed manually at the opening. First, a crane is used to lift the cover plate at the opening. Then, a work platform spanning the opening is erected to connect and dismantle the tie rods. Safety barriers are erected around the opening to ensure safety. During these operations, personnel are working near the opening and in a suspended position, posing a risk of falls. How to safely, efficiently, and effectively perform the maintenance of tie rods in the gate opening area is a pressing issue for our maintenance management personnel. 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 threading and unthreading the tie rod of a hydropower station gate. The device is swung by an external driving force and then docks with the handwheel of the tie rod. The handwheel is driven to rotate by the power supply and de-energization of an external drive motor, thereby completing the threading and unthreading operation of the tie rod connecting shaft. This realizes the fully automated operation of the tie rod connection at the orifice, provides effective safety protection for personnel at the orifice, and ensures the safety of working in the orifice area.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A swinging robotic arm device for the pull rod insertion pin of a hydropower station gate includes a column, on which are mounted an upper and lower micro-motion constraint spring and a support arm. The upper and lower micro-motion constraint spring is used to realize the up and down adjustment of the support arm. The support arm is provided with a left and right constraint spring mounting shaft, on which are mounted left and right micro-motion constraint springs and a sliding base. The left and right micro-motion constraint springs are used to realize the left and right micro-motion compensation of the sliding base. The column is equipped with a swing arm mechanism, which is used to drive the support arm to rotate around the column; The sliding base is connected to the centering suction cup.

[0005] Preferably, the column includes a base mounting plate, a support arm base, and an upright. The mounting plate is connected to the upright, and the support arm base is mounted on the upright. The support arm base is used to connect to the support arm. The base mounting plate has bolt mounting holes; the support arm support seat has swing drive wheel axle mounting holes.

[0006] Preferably, the upper and lower micro-motion constraint springs include an upper micro-motion constraint spring and a lower micro-motion constraint spring; the upper and lower micro-motion constraint springs are located on the upper and lower sides of the support arm, respectively.

[0007] Preferably, the support arm includes a bracket, on which are provided a left and right constraint spring mounting shaft, a mounting cylinder, a sliding base groove, a limiting groove, and a mounting seat; The mounting sleeve is connected to the upright, and the upper and lower micro-motion constraint springs are located on the upper and lower sides of the mounting sleeve, respectively. The left and right constraint spring mounting shafts are fixed to the bracket via mounting seats; The limiting groove is adapted to the sliding base; The sliding base groove corresponds to the mounting position of the left and right constraint springs.

[0008] Preferably, the left and right micro-motion constraint springs include a left micro-motion constraint spring and a right micro-motion constraint spring, and a sliding base is provided between the left and right micro-motion constraint springs.

[0009] Preferably, the swing arm mechanism is installed on the upper part of the column, and the swing arm mechanism includes a drive motor, a drive bevel gear, a driven bevel gear, a drive gear mounting shaft, a drive gear, and a driven gear; The driven gear is mounted 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 to the driven bevel gear, the driven bevel gear meshes with the drive bevel gear, and the drive bevel gear is driven to rotate by the drive motor.

[0010] Preferably, the swing arm mechanism further includes a protective cover, in which the drive motor, drive bevel gear and driven bevel gear are installed, and the protective cover is fixed to the top of the column.

[0011] Preferably, the sliding base includes a sliding shaft, a through hole for the transmission shaft to pass through the pin, a limiting shaft, clearance holes for the left and right constraint shafts, and a mounting base; The clearance holes of the left and right constraint axes are adapted to the mounting shafts of the left and right constraint springs; The mounting bracket is used to mount a rotating motor; The sliding shaft is installed in the sliding base groove; The limit shaft is installed inside the limit slide groove.

[0012] Preferably, the centering suction cup includes a tie rod thread shaft clearance hole, an axial guide cone surface, a handwheel guide slope, a handwheel limiting groove, a magnetic suction element, a handwheel positioning detection element mounting hole, and a suction cup mounting hole; The threaded shaft clearance hole of the tie rod is located at the center of the centering suction cup; one side of the centering suction cup is provided with multiple handwheel guide slopes, which are arranged in a ring around the threaded shaft clearance hole of the tie rod, and there is an axial guide cone between two handwheel guide slopes; the bottom of the handwheel guide slope is a handwheel limiting groove. The other side of the centering suction cup is provided with a suction cup mounting hole and multiple handwheel positioning detection element mounting holes. The suction cup mounting hole is used to connect with the rotating mechanism.

[0013] Preferably, the rotating mechanism includes a rotating motor, a coupling, a drive shaft, and a cross-connecting shaft; the rotating motor is connected to the drive shaft via the coupling, and the drive shaft is connected to the cross-connecting shaft; the rotating motor is used to drive the centering suction cup to rotate.

[0014] A method for operating a swing-arm device for threading and unthreading the pull rod 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 gate slot opening. 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: Adjust the upper and lower micro-motion constraint springs according to the center height of the handwheel of the pull rod retraction pin device so that the center of the centering suction cup is consistent with the upper and lower height direction of the handwheel; adjust the left and right micro-motion constraint springs so that the center of the centering suction cup is consistent with the left and right direction of the handwheel; thereby achieving the consistency of the device and the handwheel in the upper and lower and left and right directions, ensuring effective centering of the device and the handwheel of the pull rod retraction pin device. II. Device operation method and pin insertion process: S1: The device receives a "threading rod pin" signal from the system; S2: The swing arm mechanism is energized and swings, determined by the system or manually; a. The system determines that when the control receives the "pull rod pin" signal and the outrigger position monitoring device detects that the outrigger is currently at 0°, the swing arm mechanism starts to swing the outrigger. When it approaches the handwheel of the pull rod pin insertion device, under the guidance of the axial guide cone of the centering suction cup, the centering suction cup is slowly guided into the handwheel until the swing angle reaches 90° and then the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped. S3: Suction cup slot locking, determined by system or manual judgment; a. The system determines that when the control receives the "pull rod pin" signal, and the outrigger position monitoring device detects that the outrigger is currently in the 90° position, the rotating mechanism starts to be energized and rotates slightly. Under the guidance of the handwheel guide slope, the centering suction cup slowly engages with the handwheel limit groove. When the centering suction cup position monitoring device sends all signals, the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the suction cup, the machine is stopped. S4: The centering suction cup is energized and engages; the system determines: a. The system determines that when the control receives the "pull rod pin" signal, the outrigger position monitoring device monitors the outrigger at 90°. After all the centering suction cup position monitoring devices send signals, the system's magnetic suction device starts to be energized and attracts the handwheel, and maintains the energized attraction. S5: The rotating mechanism is energized and the pin engages; the system determines: a. The system determines that the detection rod retraction pin device is in the retraction pin position, and the device's transmission mechanism begins to rotate to perform the pin insertion operation; S6: Stop when pin is engaged, system or manual determination required. a. The system determines that the detection rod retraction pin device is in the pin insertion position, the device's transmission mechanism loses power, and the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the tie rod pin, the vehicle is stopped. S7: The swing arm mechanism is energized and swings, subject to system or manual judgment; c. System determination: When the system detects that the pin is in the position between the levers, the swing arm mechanism will swing the arm to the 45° position and then stop; when the system detects that the pin is in the position between the lever and the gate, the swing arm mechanism will swing the arm to the 0° position and then stop. d. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped; III. Return and Refund Process: S1: The device receives a retraction signal from the system; S2: The swing arm mechanism is energized and swings, determined by the system or manually; a. The system determines that when the control receives the "retractable pin" signal and the outrigger position monitoring device detects that the outrigger is currently at 0°, the swing arm mechanism starts to swing the outrigger. When it approaches the handwheel of the retractable pin device, under the guidance of the axial guide cone of the centering suction cup, the centering suction cup is slowly guided into the handwheel until the swing angle reaches 90° and then the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped. S3: Suction cup slot locking, determined by system or manual judgment; a. The system determines that when the control receives the "pull rod pin" signal, and the outrigger position monitoring device detects that the outrigger is currently in the 90° position, the rotating mechanism starts to be energized and rotates slightly. Under the guidance of the handwheel guide slope, the centering suction cup slowly engages with the handwheel limit groove. When the centering suction cup position monitoring device sends all signals, the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the suction cup, the machine is stopped. S4: The centering suction cup is energized and engages; the system determines: a. The system determines that when the control receives the "pull rod pin" signal, the outrigger position monitoring device monitors the outrigger at 90°. After all the centering suction cup position monitoring devices send signals, the system's magnetic suction device starts to be energized and attracts the handwheel, and maintains the energized attraction. S5: The rotating mechanism is energized and the pin retracts; the system determines: a. The system determines that the pin insertion / retraction device of the detection rod is in the pin insertion position, and the device's transmission mechanism begins to rotate and retract the pin. S6: Parking after cancellation, determined by system or manual judgment: a. The system determines that the detection rod retraction pin device is in the retraction pin position, the device's transmission mechanism loses power, and the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the tie rod pin, the vehicle is stopped. S7: The swing arm mechanism is energized and swings, subject to system or manual judgment; a. The system determines that when it detects a pin joint between the levers, the swing arm mechanism will swing the arm to the 45° position and then stop; when it detects a pin joint between the lever and the gate, the swing arm mechanism will swing the arm to the 0° position and then stop. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped.

[0015] The present invention can achieve the following beneficial effects: This invention uses an external driving force to swing the device, which then connects to the handwheel of the pull rod. The handwheel is driven to rotate by the power supply of an external drive motor, thereby completing the insertion and retraction operation of the pull rod connecting shaft. This achieves fully automated operation of the pull rod connection at the orifice, providing effective safety protection for personnel at the orifice and ensuring safe working conditions in the orifice area.

[0016] This device can automatically perform pin insertion and removal operations on the connecting shaft of the pull rod. The swing angle of the mechanical arm of the device can be controlled by the program, and it can be effectively connected and cooperated with the pull rod rotating handle. Under the action of the drive motor, it can realize the effective connection and release function of the connecting shaft of the pull rod, ensuring the automated operation of the gate during the lifting and lowering process. Attached Figure Description

[0017] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a three-dimensional structural diagram of a swinging robotic arm for threading and unthreading pins of a hydropower station gate pull rod, according to the present invention. Figure 2 This is a schematic diagram of the column structure of the present invention; Figure 3 This is a schematic diagram of the installation of the upper and lower micro-motion constraint springs of the present invention; Figure 4 This is a schematic diagram of the support arm structure of the present invention; Figure 5 This is a schematic diagram of the installation of the left and right micro-motion constraint springs of the present invention; Figure 6 This is a schematic diagram of the installation of the swing arm mechanism of the present invention; Figure 7 This is a schematic diagram of the locking beam body structure of the present invention; Figure 8 This is a schematic diagram of the centering suction cup (front) structure of the present invention; Figure 9 This is a schematic diagram of the centering suction cup (back side) structure of the present invention; Figure 10 This is a schematic diagram of the rotating mechanism of the present invention; Figure 11 This is a field application diagram of a swinging robotic arm device for threading and unthreading pins on a hydropower station gate pull rod, according to the present invention.

[0018] In the diagram: 0-Concrete dam; 01-Gate opening; 1-Lifting equipment head; 5-Gate tie rod; 51-Tie rod mounting / unmounting device; 511-Tie rod unmounting / unmounting device handwheel; 4-Swinging mechanical arm device for power station gate tie rod unmounting / unmounting; 41-Column; Base mounting plate 411; Support arm support seat 412; Bolt mounting hole 411-1; Swing drive wheel shaft mounting hole 412-1; 42-Upper and lower micro-motion constraint springs; Upper micro-motion constraint spring 421; Lower micro-motion constraint spring 422; 43-Support arm; Bracket 431; Left and right constraint spring mounting shaft 432; Mounting cylinder 431-1; Sliding base groove 431-2; Limiting groove 431-3; Mounting seat 431-4; 44-Left and right Micro-motion constraint spring; Left micro-motion constraint spring 441; Right micro-motion constraint spring 442; 451-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 46-2 for drive shaft clearance pin; Limiting shaft 46-3; Left and right constraint shaft clearance holes 46-4; Mounting seat 46-5; 47-Centering suction cup; 48-Rotating mechanism; 481-Rotating motor; 482-Coupling; 483-Drive shaft; 484-Cross connecting shaft; 491-Outrigger position monitoring device; 492-Centering suction cup position monitoring device. Detailed Implementation

[0019] Preferred solutions include Figures 1 to 11As shown, a swinging robotic arm device for threading and unthreading pins on gate levers in hydropower stations consists of three parts: a base support frame, a threading and unthreading mechanism, and a safety control system. The base support frame, the main supporting component, is fixedly installed at the orifice and can swing according to operational requirements, achieving effective contact between the device and the pin mechanism. It comprises a column, upper and lower micro-motion constraint springs, a swinging arm mechanism, and a support arm. The threading and unthreading mechanism, the main functional component, enables automatic alignment and locking with the pin handle, then drives the lever pin to perform threading and unthreading operations, achieving effective connection and separation between levers. It comprises a sliding base, an alignment suction cup, and a rotating mechanism. The safety control system primarily detects the position of the swinging arm and the alignment status of the alignment suction cup and the pin handle. When the device's position is inconsistent with the operational requirements, it issues an audible and visual alarm and promptly transmits a signal to the control system, enabling emergency shutdown and ensuring safe equipment operation.

[0020] The structure and function of each component of this invention are as follows: 1. The column 41 is the main supporting component of the present invention. It is installed at the gate opening and provides a mounting base for the device. It is mainly composed of a base mounting plate 411, a support arm support seat 412 and a column 413. The base mounting plate 411 has 4 bolt mounting holes 411-1 and the support arm support seat 412 has a swing drive wheel shaft mounting hole 412-1.

[0021] 2. The upper and lower micro-motion constraint springs 42 are installed on the upper end of the upright 413. They can realize the upper and lower micro-motion compensation of the support arm 43 on the upright 413, ensuring that the rotation mechanism on the support arm 43 can automatically align with the handwheel of the pull rod insertion and withdrawal pin device, thus ensuring the safe operation of the mechanism.

[0022] 3. Support arm 43, a specially made product, is a triangular plate-shaped structural component, mainly composed of bracket 431 and left and right constraint spring mounting shafts 432. The bracket 431 is equipped with mounting cylinder 431-1, sliding base groove 431-2, limiting groove 431-3 and mounting seat 431-4. The mounting cylinder 431-1 is fitted on the support arm support seat 412 of the column 41. The upper and lower parts are equipped with upper and lower micro-movement constraint springs 42, which can realize the upper and lower micro-movement of the support arm.

[0023] 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, ensuring that the rotation mechanism on the support arm 43 can automatically align with the handwheel of the pull rod insertion and withdrawal pin device, and ensuring the safe operation of the mechanism.

[0024] 5. The swing arm mechanism is fixedly installed at the top of the column 41 and is the main swing arm mechanism of the present invention. The control system enables the support arm 43 to swing as needed at 0°, 45° and 90° positions. It consists of a drive motor 451, a drive bevel gear 452, a driven bevel gear 453, a drive gear mounting shaft 454, a drive gear 455, a driven gear 456 and a protective cover 457.

[0025] 6. The sliding base 46 is the main support for the rotating mechanism of the present invention. It is used to support the installation of the rotating motor 481 and to provide the power source for the pin insertion and removal mechanism. It mainly consists of a sliding shaft 46-1, a pin insertion and removal transmission shaft clearance through hole 46-2, a limiting shaft 46-3, left and right constraint shaft clearance holes 46-4, and a mounting base 46-5. The sliding shaft 46-1 is installed in the sliding base groove 431-2 and can slide along the groove 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 groove 431-3 to prevent the sliding base 46 from rotating during the pin insertion and removal process, thus ensuring the safety of the mechanism.

[0026] 7. The centering suction cup 47, a customized product, is the main automatic centering component of the device of this invention. It can automatically center and lock with the pull rod through-pin handwheel, realizing the effective connection between the device and the operating handwheel. Its body is provided with a pull rod thread shaft clearance hole 47-1, an axial guide cone surface 47-2, a handwheel guide slope 47-3, a handwheel limiting groove 47-4, a magnetic suction element 47-5, a handwheel positioning detection element mounting hole 47-6, and a suction cup mounting hole 47-7. The axial guide cone surface 47-2 can automatically center with the concave surface of the handwheel. Then, through the rotation mechanism, under the guidance of the handwheel guide slope 47-3, the handwheel limiting groove 47-4 of the centering suction cup 47 fits with the handwheel, realizing the automatic centering of the centering device. When the system detects that the centering function is completed, the device is powered on and firmly attracts the handwheel and the centering suction cup, ensuring that the subsequent device drives the handwheel to rotate effectively.

[0027] The magnetic chuck 47-5 is a ring-shaped structure installed on the side of the centering chuck 47 near the handwheel 511. It is powered by a slip ring power supply mode. When energized, it attracts the chuck. After energization, the coil inside the magnetic chuck 47-5 generates a magnetic field. 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 chuck. It can firmly attract the handwheel 511 and prevent the centering chuck 47 from separating from the handwheel 511 during rotation. Demagnetization upon power failure: After the power is cut off, the magnetic field inside the magnetic chuck 47-5 disappears, and the device releases the attraction to the handwheel 511, preparing for the separation of the centering chuck 47 from the handwheel 511.

[0028] The cross-shaped connecting shaft 484 is connected to the suction cup mounting hole 47-7; The centering suction cup 47 is used to fit around the handwheel 511 of the pull rod retraction pin device. The rotation motor 481 drives the centering suction cup 47 to rotate, thereby driving the handwheel 511 of the pull rod retraction pin device to rotate, thus realizing mechanical operation to replace manual operation.

[0029] Accordingly, the threaded shaft clearance hole 47-1 is adapted to the threaded shaft of the tie rod mounting pin device; The magnetic suction component 47-5, the handwheel guide slope 47-3, the axial guide cone surface 47-2, and the handwheel limiting groove 47-4 are adapted to the shape of the handwheel 511 of the pull rod insertion and withdrawal pin device.

[0030] 8. Rotating mechanism 48 is the main functional component for inserting and removing pins in this invention. Under the action of the control system, the mechanism rotates slightly to complete the action of inserting the handle into the slot. When the system detects that the handle has entered the slot, it is electrostatically attracted to effectively connect the device to the handwheel, and then starts to rotate to perform the inserting and removing pin work. Its body is mounted on the sliding base 46 and is effectively connected to the suction cup mounting hole 47-7 through the cross connecting shaft 484. It is mainly composed of a rotating motor 481, a coupling 482, a transmission shaft 483 and a cross connecting shaft 484.

[0031] 9. The safety control system 49 mainly consists of an outrigger position monitoring device 491 and a centering suction cup position monitoring device 492. The outrigger position monitoring device 491 is installed at the upper end of the upright 41 and can effectively monitor the status of the outrigger 43 at 0°, 45° and 90° positions to ensure the safety of outrigger use. The centering suction cup position monitoring device 492 is installed on the suction cup limiting groove and can effectively monitor the centering suction cup 47's alignment with the handwheel and its insertion into the groove to ensure the safety of centering suction cup use. The following is a swing-arm device and method for threading and unloading the pull rod of a hydropower station gate: I. Installation Steps: S1: Device installation: Install the device on the foundation surface at the gate slot opening. 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. Based on the center height of the handwheel of the pull rod retraction pin device, adjust the upper and lower micro-motion constraint springs 42 to make the center of the centering suction cup 47 consistent with the upper and lower height direction of the handwheel; adjust the left and right micro-motion constraint springs 44 to make the center of the centering suction cup 47 consistent with the left and right direction of the handwheel; thereby achieving the alignment of the device and the handwheel in the upper and lower and left and right directions, ensuring effective alignment of the device and the handwheel of the pull rod retraction pin device. II. Device operation method and pin insertion process: S1: The device receives a "threading rod pin" signal from the system; S2: The swing arm mechanism is energized and swings, determined by the system or manually; a. The system determines that when the control receives the "pull rod pin" signal, and the outrigger position monitoring device 491 monitors that the outrigger is currently at the 0° position, the swing arm mechanism starts to be energized and swings the outrigger. When it approaches the handwheel of the pull rod pin insertion device, under the guidance of the axial guide 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 90° and then the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped. S3: Suction cup slot locking, determined by system or manual judgment; a. The system determines that when the control receives the "pull rod pin" signal, and the outrigger position monitoring device 491 detects that the outrigger is currently in the 90° position, the rotating mechanism 48 starts to rotate slightly. Under the guidance of the handwheel guide slope 47-3, the centering suction cup 47 slowly engages with the handwheel limit groove 47-4. When the centering suction cup position monitoring device 492 sends all signals, the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the suction cup, the machine is stopped. S4: The centering suction cup is energized and engages; the system determines: a. The system determines that when the control receives the "pull rod pin" signal, the outrigger position monitoring device 491 monitors the outrigger at 90°. After the centering suction cup position monitoring device 492 sends all signals, the system's magnetic suction device starts to be energized and attracts the handwheel, and maintains the energized attraction. S5: The rotating mechanism is energized and the pin engages; the system determines: a. The system determines that the detection rod retraction pin device is in the retraction pin position, and the device's transmission mechanism begins to rotate to perform the pin insertion operation; S6: Stop when pin is engaged, system or manual determination required. a. The system determines that the detection rod retraction pin device is in the pin insertion position, the device's transmission mechanism loses power, and the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the tie rod pin, the vehicle is stopped. S7: The swing arm mechanism is energized and swings, subject to system or manual judgment; c. System determination: When the system detects that the pin is in the position between the levers, the swing arm mechanism will swing the arm to the 45° position and then stop; when the system detects that the pin is in the position between the lever and the gate, the swing arm mechanism will swing the arm to the 0° position and then stop. d. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped; Return and resale process: S1: The device receives a retraction signal from the system; S2: The swing arm mechanism is energized and swings, determined by the system or manually; a. The system determines that when the control receives the "retractable pin" signal, and the outrigger position monitoring device 491 monitors that the outrigger is currently at the 0° position, the swing arm mechanism starts to be energized and swings the outrigger. When it approaches the handwheel of the retractable pin device, under the guidance of the axial guide 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 90° and then the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped. S3: Suction cup slot locking, determined by system or manual judgment; a. The system determines that when the control receives the "retractable lever pin" signal, and the outrigger position monitoring device 491 detects that the outrigger is currently in the 90° position, the rotating mechanism 48 starts to rotate slightly. Under the guidance of the handwheel guide slope 47-3, the centering suction cup 47 slowly engages with the handwheel limit groove 47-4. When the centering suction cup position monitoring device 492 sends all signals, the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the suction cup, the machine is stopped. S4: The centering suction cup is energized and engages; the system determines: a. The system determines that when the control receives the "retractable lever pin" signal, the outrigger position monitoring device 491 monitors the outrigger at 90°. After the centering suction cup position monitoring device 492 sends all signals, the system's magnetic suction device starts to be energized and attracts the handwheel, and maintains the energized attraction. S5: The rotating mechanism is energized and the pin retracts; the system determines: a. The system determines that the pin insertion / retraction device of the detection rod is in the pin insertion position, and the device's transmission mechanism begins to rotate and retract the pin. S6: Parking after cancellation, determined by system or manual judgment: a. The system determines that the detection rod retraction pin device is in the retraction pin position, the device's transmission mechanism loses power, and the system stops. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the tie rod pin, the vehicle is stopped. S7: The swing arm mechanism is energized and swings, subject to system or manual judgment; a. The system determines that when it detects a pin joint between the levers, the swing arm mechanism will swing the arm to the 45° position and then stop; when it detects a pin joint between the lever and the gate, the swing arm mechanism will swing the arm to the 0° position and then stop. b. Manual judgment: After the back-end operation monitoring personnel confirm the position of the outrigger, the machine is stopped.

[0032] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be defined as the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A swinging robotic arm device for threading and unthreading pins on gate rods of hydropower stations, characterized in that: It includes a column, on which are installed vertical micro-motion constraint springs and a support arm. The vertical micro-motion constraint springs are used to adjust the support arm vertically. The support arm is provided with a left and right constraint spring mounting shaft. The left and right constraint spring mounting shaft is provided with a left and right micro-motion constraint spring and a sliding base. The left and right micro-motion constraint springs are used to compensate for the left and right micro-motion of the sliding base. The column is equipped with a swing arm mechanism, which is used to drive the support arm to rotate around the column; The sliding base is connected to the centering suction cup; The sliding base includes a sliding shaft, a through hole for the drive shaft to pass through the pin, a limiting shaft, clearance holes for the left and right constraint shafts, and a mounting base; The clearance holes of the left and right constraint axes are adapted to the mounting shafts of the left and right constraint springs; The mounting bracket is used to mount a rotating motor; The sliding shaft is installed in the sliding base groove; The limiting shaft is installed inside the limiting slide groove; The centering suction cup includes a tie rod thread shaft clearance hole, an axial guide cone surface, a handwheel guide slope, a handwheel limiting groove, a magnetic suction component, a handwheel positioning detection element mounting hole, and a suction cup mounting hole; The threaded shaft clearance hole of the tie rod is located at the center of the centering suction cup; one side of the centering suction cup is provided with multiple handwheel guide slopes, which are arranged in a ring around the threaded shaft clearance hole of the tie rod, and there is an axial guide cone between two handwheel guide slopes; the bottom of the handwheel guide slope is a handwheel limiting groove. The other side of the centering suction cup is provided with a suction cup mounting hole and multiple handwheel positioning detection element mounting holes. The suction cup mounting hole is used to connect with the rotating mechanism.

2. The swinging robotic arm device for threading and unthreading pins of gate rods in hydropower stations according to claim 1, characterized in that: The column includes a base mounting plate, a support arm base, and an upright. The mounting plate is connected to the upright, and the support arm base is installed on the upright. The support arm base is used to connect to the support arm. The base mounting plate has bolt mounting holes; the support arm support seat has swing drive wheel axle mounting holes.

3. The swinging robotic arm device for threading and unthreading pins of gate rods in hydropower stations according to claim 2, characterized in that: The upper and lower micro-motion constraint springs include an upper micro-motion constraint spring and a lower micro-motion constraint spring; the upper and lower micro-motion constraint springs are located on the upper and lower sides of the support arm, respectively.

4. A swinging robotic arm device for threading and unthreading pins on gate rods of hydropower stations according to claim 3, characterized in that: The outrigger includes a bracket, which is equipped with left and right constraint spring mounting shafts, mounting cylinders, sliding base grooves, limit grooves, and mounting seats. The mounting sleeve is connected to the upright, and the upper and lower micro-motion constraint springs are located on the upper and lower sides of the mounting sleeve, respectively. The left and right constraint spring mounting shafts are fixed to the bracket via mounting seats; The limiting groove is adapted to the sliding base; The sliding base groove corresponds to the mounting position of the left and right constraint springs.

5. A swinging robotic arm device for threading and unthreading pins on gate rods of hydropower stations according to claim 4, characterized in that: The left and right micro-motion constraint springs include a left micro-motion constraint spring and a right micro-motion constraint spring, with a sliding base provided between the left and right micro-motion constraint springs.

6. A swinging robotic arm device for threading and unthreading pins on a hydropower station gate pull rod according to claim 4, characterized in that: The swing arm mechanism is installed on the upper part of the 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, and a driven gear. The driven gear is mounted 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 to the driving gear mounting shaft, the driving gear mounting shaft is connected to the driven bevel gear, the driven bevel gear meshes with the driving bevel gear, and the driving bevel gear is driven to rotate by the drive motor.

7. A swinging robotic arm device for threading and unthreading pins on gate rods of hydropower stations according to claim 6, characterized in that: The swing arm mechanism also includes a protective cover. The drive motor, drive bevel gear and driven bevel gear are installed inside the protective cover, which is fixed to the top of the column.

8. A swinging robotic arm device for threading and unthreading pins on gate rods of hydropower stations according to claim 1, characterized in that: The rotating mechanism includes a rotating motor, a coupling, a drive shaft, and a cross-connecting shaft; the rotating motor is connected to the drive shaft via the coupling, and the drive shaft is connected to the cross-connecting shaft; the rotating motor is used to drive the centering suction cup to rotate.

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