Self-adapting five-dimensional displacement floating gate driving device and method

Abstract

The application provides a self-adaptive five-dimensional displacement floating gate driving device and method, and relates to the technical field of large floating gate opening and closing. The device comprises a driving unit and a follow-up gear ring system. The floating gate is connected with the driving unit through a steel arm. The follow-up gear ring system is distributed along the opening and closing path and comprises floating sections (opening / closing sections) and fixed section gear rings. The floating sections drive the movable section gear rings to move up and down through the jacking hydraulic oil cylinder and are rigidly locked with the fixed section through the butt joint locking oil cylinder. The upper layer of the driving unit transmits torque, and the lower layer of the four-pole displacement mechanism is adaptively displaced in the transverse and longitudinal directions through the liquid gas spring and the fork arm rotating structure, so as to maintain the gear meshing. The method comprises the steps of initial positioning butt joint, driving rotation and displacement adjustment, limit protection and final position resetting. The application solves the problem of force transmission interruption caused by gate displacement under complex load, realizes reliable opening and closing of the super-span tide gate, adapts to extreme climate and engineering errors, and significantly improves safety and compatibility.

Description

Technical Field

[0001] This invention relates to the field of large floating gate opening and closing technology, specifically an adaptive five-dimensional displacement floating gate driving device and method. Background Technology

[0002] Traditional hydraulic gates, such as lift gates, rotating gates, and sliding gates, are limited by the enormous opening and closing forces and the arrangement of opening and closing equipment, and cannot meet the layout requirements of extra-large spans of 200m and above. Floating gates can significantly reduce the load required for opening and closing large-span gates, and can provide a feasible engineering solution for extra-large span tide barriers.

[0003] Large floating gates are subjected to complex superimposed loads from wind, waves, and currents during opening and closing, characterized by sudden changes in load magnitude and direction, rapid speed changes, and high frequency. Under these complex loads, the floating gate experiences lateral and longitudinal tilting movements during rotation around its hinges. Existing hydraulic gate opening and closing technologies, such as hydraulic hoists, linkage hoists, and wire rope winches, cannot reliably transmit force and ensure precise opening and closing under these complex conditions. To address these technical challenges, this invention provides an adaptive five-dimensional displacement floating gate drive device and method, offering a practical opening and closing technology solution for extra-large span tidal barrier projects. Summary of the Invention

[0004] This invention relates to the field of large floating gate opening and closing technology, and more specifically, to an adaptive five-dimensional displacement floating gate driving device and method, which solves the technical problem of reliably transmitting force while adapting to the lateral and longitudinal displacements of the floating gate during the opening and closing process.

[0005] An adaptive five-dimensional displacement floating gate drive device includes a drive unit and a follower gear ring system;

[0006] The floating gate is connected to the steel arm, and a central ball hinge is provided between the two, allowing the floating gate to rotate as a whole around the central ball hinge;

[0007] The drive unit is provided at the tail end of the steel arm, and the drive unit meshes with the follower gear ring system for transmission.

[0008] The follower gear system is distributed along the opening and closing path as a floating gear ring for the opening section, a fixed gear ring for the fixed section, and a floating gear ring for the closing section.

[0009] The drive unit has a two-layer cabin structure. The upper cabin transmits torque, and the lower cabin is equipped with a four-bar linkage for adaptive displacement.

[0010] Furthermore, the upper cabin of the drive unit includes a motor, a working brake, and a two-stage reducer;

[0011] The motor is connected to the input end of the first-stage reducer via a coupling with a working brake, and the output end of the first-stage reducer is connected to the input shaft of the second-stage reducer via a coupling.

[0012] The output shaft of the two-stage reducer is sequentially connected to an open gear via coupling I, a short shaft, and coupling II. The open gear meshes with the follower gear ring system.

[0013] Furthermore, the floating gear ring of the opening section and the floating gear ring of the closing section include a movable gear ring, a gear ring fixing truss, and a lifting hydraulic cylinder;

[0014] The movable section gear ring is fixed to the gear ring fixing truss by bolts. A vertical guide slider is provided on the back of the gear ring fixing truss and is slidably installed in the vertical guide groove.

[0015] The piston rod of the lifting hydraulic cylinder is hinged to the hinged support of the gear ring fixing truss, driving the movable section of the gear ring to rise and fall.

[0016] Furthermore, the four-bar linkage includes a hydraulic spring, a bottom crossbar, vertical bar I, vertical bar II, and a top crossbar;

[0017] The lower end of the hydro-pneumatic spring is hinged to the bottom crossbar, the bottom crossbar is hinged to the vertical bar I and the vertical bar II respectively, and the top crossbar is parallel to the bottom crossbar and hinged to the vertical bar I and the vertical bar II.

[0018] The top crossbar is mounted on the fork arm via a self-lubricating slider. Both ends of the fork arm are hinged to the open gear bracket. The bracket is equipped with forward guide wheels and reverse guide wheels that contact the guide rail.

[0019] Furthermore, the fixed section gear ring includes a fixed gear ring, an embedded part, and a docking locking cylinder;

[0020] The fixed gear ring is connected to the embedded part by bolts, and the embedded part is fixed to the concrete load-bearing wall by anchor rods;

[0021] The output end of the docking locking cylinder is connected to a pin, which can be inserted into the docking locking hole of the floating section gear ring to achieve locking.

[0022] An adaptive five-dimensional displacement floating gate driving method, using the adaptive five-dimensional displacement floating gate driving device as described above, includes the following steps:

[0023] S1. Initial positioning and docking lock

[0024] After the floating gate is raised for drainage, the servo control system controls the lifting hydraulic cylinder to drive the movable section gear ring to descend synchronously until it matches the operating height of the floating gate. After the floating gate is raised to the operating position, the docking locking cylinder pushes out the pin and inserts it into the docking locking hole to realize the docking and locking of the floating section gear ring and the fixed section gear ring, forming a continuous gear ring transmission path.

[0025] S2. Adaptive adjustment of driving rotation and five-dimensional displacement

[0026] Based on the continuous gear ring transmission path formed in step S1, the working brake is released, the motor is loaded and drives the open gear to rotate through a two-stage reducer, which in turn drives the floating gate to rotate around the central ball joint. During the rotation, the horizontal tilt, vertical tilt or combined displacement of the floating gate is adaptively adjusted through a four-bar displacement mechanism to maintain the meshing of the open gear and the gear ring.

[0027] S3. Limit Protection and Reset

[0028] If the lateral or longitudinal tilt displacement of the floating gate exceeds the preset limit, the hydraulic spring triggers the sensor, controls the motor to unload, releases the working brake, and the floating gate returns to a safe range based on its self-stabilizing characteristics; after resetting, step S2 is executed again to continue rotating.

[0029] S4. End Position Locking and System Reset

[0030] After the floating gate rotates to the closed position, the docking locking cylinder pulls away from the pin to release the lock; the working brake engages, and the motor unloads and exits; the floating gate is filled with water and sinks to the bottom, and the lifting hydraulic cylinder drives the moving section gear ring to rise until the gate falls to the bottom sill.

[0031] Furthermore, in step S1, the synchronous descent of the movable segment gear ring is guided by the vertical guide slider sliding along the vertical guide groove, and the descent height is matched in real time with the floating height of the floating gate by the servo control system.

[0032] Furthermore, in step S2, the adaptive adjustment of the tilt displacement specifically means that if tilting occurs, the force exerted by the bottom crossbar of the four-bar linkage on the hydropneumatic spring exceeds the set threshold, the end of the four-bar linkage moves radially along the steel arm, and the open gear moves vertically along the surface of the gear ring. That is, under the condition that the meshing relationship between the open gear and the gear ring remains unchanged, the end of the steel arm rotates around the central ball joint in the plumb plane.

[0033] Furthermore, in step S2, the adaptive adjustment of the tilt displacement specifically means that if tilting occurs, the open gear bracket rotates along the hinge axis of the fork arm at the end of the four-bar linkage to adapt to the tilting motion of the steel arm. That is, the end of the steel arm rotates around the center axis of the tilting motion of the floating gate while the meshing relationship between the open gear and the gear ring remains unchanged.

[0034] Furthermore, in step S2, the adaptive adjustment of the tilt displacement specifically means that if tilting occurs, the open gear bracket rotates along the hinge axis of the fork arm at the end of the four-bar linkage to adapt to the tilting motion of the steel arm. That is, the end of the steel arm rotates around the center axis of the tilting motion of the floating gate while the meshing relationship between the open gear and the gear ring remains unchanged.

[0035] Compared to existing floating gate drive devices, the innovation of this invention lies in:

[0036] 1. The adaptive five-dimensional displacement floating gate drive device of the present invention can adapt to the lateral and longitudinal tilting movements caused by the superposition of complex external loads such as wind, waves and currents during the opening and closing of the floating gate, while ensuring that the meshing relationship of the gear and gear ring is not affected by external loads, thus achieving the technical requirements of reliable force transmission, precise control and smooth opening and closing.

[0037] 2. The innovative follow-up gear ring system of this invention perfectly solves the contradiction that floating gates need to adapt to the large stroke during the floating and sinking process of water filling and discharging and the small change in height during rotation, ensuring that the gears and gear rings are always meshed and the drive system is always safe and reliable.

[0038] 3. The adaptive five-dimensional displacement floating gate drive device of the present invention can also adapt to certain local deformations caused by processing and installation errors and temperature deformation, and can be adapted to different gate layouts and various operating conditions, and has strong applicability.

[0039] 4. The driving method of the present invention realizes closed-loop control of the entire process, decomposes the opening and closing logic into three core stages, sets up control nodes to form a closed loop, adapts to various complex working conditions, and at the same time, the intelligent dynamic response ensures the safe operation of the gate opening and closing, effectively solving the technical problem of "easy interruption of force transmission and difficulty in adapting to displacement" in the industry. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the overall layout of an adaptive five-dimensional displacement floating gate drive device according to the present invention;

[0041] Figure 2 This is a schematic diagram of the arrangement of the drive unit of the present invention;

[0042] Figure 3 This is a schematic diagram illustrating the structure and principle of the follower gear ring system of the present invention;

[0043] Figure 4 This is a schematic diagram of the four-bar linkage driving device for adaptive five-dimensional displacement according to the present invention;

[0044] Figure 5 This is a flowchart of the operation of the adaptive five-dimensional displacement floating gate drive device of the present invention;

[0045] The attached figures are labeled as follows:

[0046] 001-Floating gate, 002-Central ball hinge, 003-Steel arm, 004-Drive unit, 005-Opening section floating section gear ring, 006-Fixed section gear ring, 007-Closing section floating section gear ring;

[0047] 101-Upper engine room, 102-Motor, 103-Brake, 104-First stage reducer, 105-Second stage reducer, 106-Output shaft, 107-Upper deck, 108-Concrete load-bearing wall, 109-Four-bar linkage, 110-Lower engine room floor.

[0048] 201-Lifting hydraulic cylinder, 202-Vertical guide slider, 203-Hinged support, 204-Moving section gear ring, 205-Gear ring fixing truss, 206-Vertical guide groove, 207-Matching locking hole;

[0049] 301 - Docking and locking cylinder; 302 - Fixed section concrete load-bearing wall; 303 - Fixed gear ring;

[0050] 401-Hydraulic spring, 402-Bottom crossbar, 403-Vertical bar I, 404-Top crossbar, 405-Vertical bar II, 406-Open gear bracket, 407-Forward guide wheel bracket, 408-Reverse guide wheel bracket, 409-Guide rail, 410-Gear ring, 411-Anchor bolt, 412-Embedded part, 413-Coupling I, 414-Short shaft, 415-Coupling II, 416-Open gear, 417-Fork arm, 418-Forward guide wheel, 419-Reverse guide wheel. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0052] In this embodiment, the drive system is configured with 4 sets of drive units. The number of drive units can be increased or decreased according to the opening and closing capacity, and the number of drive units should be an even number greater than 2. The opening and closing stroke is based on a rotation angle of 100°, with each of the two floating section gear rings at 10° and the fixed section gear ring at 80°. It can also be adjusted according to the gate layout requirements.

[0053] like Figures 1 to 4 As shown, this embodiment of the invention provides an adaptive five-dimensional displacement floating gate drive device, including a drive unit 004 and a follower gear ring system, the overall arrangement of which is as follows. Figure 1 As shown. The floating gate 001 is connected to the steel arm 003 and can rotate as a whole around the ball joint 002 set in front of them; the tail end of the steel arm 003 is equipped with a drive unit 004, which is connected to the follower gear ring system.

[0054] Drive unit 004 is arranged as follows Figure 2As shown, the drive unit 004 is located at the tail end of the steel arm 003 and adopts a two-layer nacelle structure. It is used to transmit motor torque and drive the floating gate 001 to rotate around the central ball hinge 002.

[0055] The upper engine room 101 is equipped with a motor 102, a coupling with a working brake 103, a first-stage reducer 104, and a second-stage reducer 105. The motor 102 is connected to the input end of the first-stage reducer 104 through the coupling with the working brake 103. The output end of the first-stage reducer 104 is connected to the input shaft of the second-stage reducer 105 through the coupling. The output shaft 106 of the second-stage reducer 105 is set perpendicular to the upper deck 107.

[0056] The structure and principle of the follower gear system are as follows: Figure 3 As shown, the follower gear ring system is sequentially distributed along the opening and closing path of the drive system as a floating gear ring 005 for the opening section, a fixed gear ring 006 for the fixed section, and a floating gear ring 007 for the closing section, to adapt to the height requirements of the floating gate 001 at different stages of movement; the floating gear ring 005 for the opening section and the floating gear ring 007 for the closing section have the same structure, both including a movable gear ring 204, a gear ring fixing truss 205, a lifting hydraulic cylinder 201, and a docking locking assembly; the movable gear ring 204 is fixed to the linearly arrayed bolts. On the gear ring fixing truss 205, a vertical guide slider 202 is provided on the back of the gear ring fixing truss 205, and the vertical guide slider 202 is slidably installed in the vertical guide groove 206 to provide guidance for the up and down movement of the movable section gear ring 204; the piston rod end of the lifting hydraulic cylinder 201 is hinged to the pre-set hinge support 203 on the gear ring fixing truss 205, and the extension and retraction of the lifting hydraulic cylinder 201 drives the gear ring fixing truss 205 to drive the movable section gear ring 204 to rise and fall synchronously, so as to realize the follow-up control of the movable section gear ring 204;

[0057] The gear ring fixing truss 205 is provided with a docking locking hole 207, and the fixed section gear ring 006 is equipped with a docking locking cylinder 301. The output end of the docking locking cylinder 301 is connected to a pin. By inserting or withdrawing the pin into the docking locking hole 207, the docking locking or unlocking of the floating section gear ring and the fixed section gear ring 006 can be realized.

[0058] The fixed section gear ring 006 includes a fixed gear ring 303, an embedded part 412, and an anchor rod 411; the fixed gear ring 303 is connected to the embedded part 412 by bolts, and the embedded part 412 is fixed to the fixed section concrete bearing wall 302 by the anchor rod 411, forming a stable fixed support structure.

[0059] The structure of the adaptive five-dimensional displacement four-bar linkage drive device is as follows: Figure 4As shown, the output shaft 106 of the secondary reducer 105 is connected to one end of the short shaft 414 via a hinge at the end of coupling I 413. The other end of the short shaft 414 is connected to coupling II 415 via a hinge. Coupling II 415 is fixedly connected to the gear shaft on which the open gear 416 is mounted. Through the above transmission structure, the torque of the motor 102 is transmitted to the open gear 416. The open gear 416 meshes with the gear ring 410 in the follower gear ring system to realize the transmission of the driving load.

[0060] The four-bar linkage 109 is fixed to the lower engine room floor plate 110 by high-strength bolts. It is used to adaptively adjust the lateral and longitudinal tilt of the floating gate 001 and ensure the meshing relationship between the open gear 416 and the gear ring 410.

[0061] The four-bar linkage 109 includes a hydropneumatic spring 401, a bottom horizontal bar 402, a vertical bar I 403, a vertical bar II 405, a top horizontal bar 404, a fork arm 417, and an open gear bracket 406.

[0062] The support of the hydropneumatic spring 401 is hinged to the support of the bottom crossbar 402 and the vertical bar II 405 and is fixed to the lower cabin floor plate 110 by high-strength bolts; the lower end of the hydropneumatic spring 401 is connected to the bottom crossbar 402 through a hinge shaft, and the two ends of the bottom crossbar 402 are respectively connected to the lower ends of the vertical bar I 403 and the vertical bar II 405 through hinge shafts; the top crossbar 404 is arranged parallel to the bottom crossbar 402 below, and the two ends of the top crossbar 404 are respectively connected to the upper ends of the vertical bar I 403 and the vertical bar II 405 through hinge shafts.

[0063] The top crossbar 404 is coaxially mounted with a fork arm 417 via a self-lubricating slider. The fork arm 417 can rotate along the central axis of the top crossbar 404. The two ends of the fork arm 417 are connected to the open gear bracket 406 via hinges. The open gear bracket 406 has bearings on both sides, and the open gear 416 is coaxially mounted on the bearings.

[0064] The open gear bracket 406 is also provided with a forward guide wheel bracket 407 and a reverse guide wheel bracket 408. The forward guide wheel bracket 407 is used to install the forward guide wheel 418, and the reverse guide wheel bracket 408 is used to install the reverse guide wheel 419. The forward guide wheel 418 and the reverse guide wheel 419 respectively contact the front and back tread surfaces of the guide rail 409 to limit the radial displacement of the open gear 416 and ensure the precise meshing of the open gear 416 and the gear ring 410.

[0065] Based on the aforementioned driving device, the driving method of the present invention includes a closing process and a opening process, wherein the opening process and the closing process are inverses of each other, and the closing process is as follows: Figure 5 As shown, the specific steps include:

[0066] After the gate closing command is issued, the floating gate 001 drains water and floats up; the servo control system controls the extension and retraction of the lifting hydraulic cylinder 201, so that the movable section gear ring 204 and the floating gate 001 descend synchronously; when the floating gate 001 rises to the preset operating position, the docking locking cylinder 001 on the fixed section gear ring 006 is controlled to push out the pin, and the pin is inserted into the docking locking hole 207 on the gear ring fixing truss 205, so as to realize the docking locking of the floating section gear ring and the fixed section gear ring 006, and ensure the continuity of the gear ring.

[0067] After docking and locking are completed, the working brake 103 is released, the motor 102 is loaded, and the torque is transmitted through the drive unit 004 to drive the floating gate 001 to start rotating around the central ball hinge 002. Since the floating gate 001 is only restricted by the central ball hinge 002, it is prone to tilting, pitching or combined displacement due to the superposition of external loads such as wind, waves and currents during the rotation process. At this time, the four-bar displacement mechanism 109 performs adaptive adjustment.

[0068] (1) Adjustment of pitch displacement:

[0069] If the floating gate 001 tilts longitudinally, the force exerted by the bottom crossbar 402 of the four-bar linkage 109 on the hydropneumatic spring 401 exceeds the preset threshold. The hydropneumatic spring 401 is displaced along the y-axis, causing the end of the four-bar linkage to move along the steel arm 003 along the x-axis, thereby causing the open gear 416 to move vertically along the surface of the gear ring 410 along the y-axis. During this process, the meshing relationship between the open gear 416 and the gear ring 410 remains unchanged, and the end of the steel arm 003 can rotate around the central ball joint 002 in the xoy plane to adapt to the tilt displacement.

[0070] (2) Tilting adjustment:

[0071] If the floating gate 001 tilts, the open gear bracket 406 rotates along the hinge axis of the fork arm 417 at the end of the four-bar linkage. Figure 4 The fork arm 417 is rotated along the x-axis to adapt to the lateral tilting motion of the steel arm 003. At this time, the meshing relationship between the open gear 416 and the gear ring 410 remains unchanged, and the end of the steel arm 003 can rotate around the lateral tilting motion center axis of the floating gate 001 to adapt to the lateral tilting displacement.

[0072] (3) Tilt and roll combined displacement adjustment:

[0073] If the floating gate 001 simultaneously tilts and rolls, and the change in the central axis of the roll movement is uncertain, the four-bar linkage 109 simultaneously adapts to both tilt adjustment and roll displacement: the end of the four-bar linkage moves radially along the x-axis of the steel arm 003, driving the open gear 416 to slide vertically along the y-axis on the surface of the gear ring 410, while the open gear bracket 406 hinges along the hinge axis of the fork arm 417 ( Figure 4The rotation (marked as the x-axis) achieves adaptive response to changes in the center axis of the tilting motion through the superposition of two displacement actions.

[0074] (4) Limit protection:

[0075] If the lateral or longitudinal tilt displacement of the floating gate 001 exceeds the preset limit, the limit device on the support of the hydropneumatic spring 401 triggers the sensor. The sensor sends a signal to the control system, controlling the drive system motor 102 to unload and the working brake 103 to release. Due to the self-stabilizing characteristics of the floating gate 001, it can automatically reset to the safe displacement range after unloading. If the lateral or longitudinal tilt displacement of the floating gate 001 does not exceed the preset limit, the drive system remains in the loaded state and continues to drive the floating gate 001 to rotate around the central ball hinge 002.

[0076] When the floating gate 001 rotates around the central ball hinge 002 to the closed position, the control docking locking cylinder 301 pulls the pin out of the docking locking hole 207, releasing the docking lock between the floating section gear ring and the fixed section gear ring 006; then the working brake 103 of the drive system engages, the motor 102 unloads and exits the working state; the floating gate 001 is filled with water and sinks to the bottom, and the servo control system controls the lifting hydraulic cylinder 201 to drive the movable section gear ring 204 to rise synchronously until the floating gate 001 falls to the bottom sill, and the closing process ends.

[0077] This invention has the following features and effects:

[0078] 1. Adaptive complex displacement, ensuring reliable force transmission: Through the hydropneumatic spring and fork arm rotation structure of the four-bar displacement mechanism, it can adapt to the lateral tilt, longitudinal tilt and compound displacement of the floating gate under wind, wave and current loads in real time, maintain the precise meshing of the open gear and gear ring, and solve the technical problem of "easy interruption of force transmission" in traditional drive devices.

[0079] 2. Follow-up gear ring system, adaptable to multiple working conditions and stroke requirements: The floating section gear ring is driven by the lifting hydraulic cylinder to move the moving section gear ring up and down. Combined with the docking locking cylinder, it achieves rigid docking with the fixed section gear ring. This not only meets the large stroke height adjustment during the filling and emptying of the floating gate, but also ensures the continuity of the gear ring during the rotation process, breaking through the limitation of "stroke contradiction".

[0080] 3. Dynamic closed-loop control enhances operational safety: The integrated limit sensor and servo control system automatically trigger motor unloading and brake release when the displacement exceeds the limit, and resets the gate using its self-stabilizing characteristics; the final position locking and bottoming process form a closed loop to avoid overload risks and adapt to complex working conditions under extreme weather conditions.

[0081] 4. Strong structural compatibility and adaptability to engineering errors: The modular design of the four-bar displacement mechanism and the follower gear ring is compatible with processing and installation errors and temperature deformation, and can be used for extra-large span tide gates of 200m or more. It can be applied to different gate layouts without customized modification.

[0082] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A self-adapting five-dimensional displacement floating gate drive device, characterized by, The drive unit and the follow-up gear ring system are included; The floating gate is coupled with the steel arm, and a central spherical hinge is arranged between the floating gate and the steel arm, and the floating gate can rotate as a whole around the central spherical hinge; The drive unit is arranged at the tail end of the steel arm, and the drive unit is engaged with the follow-up gear ring system for transmission; The follow-up gear ring system is sequentially distributed along the opening and closing path as the opening door section floating section gear ring, the fixed section gear ring and the closing door section floating section gear ring; The drive unit is a two-layer cabin structure, the upper cabin transmits torque, and the lower cabin is provided with a four-bar displacement mechanism for adaptive displacement; The upper cabin of the drive unit comprises a motor, a working brake and a two-stage reducer; The motor is connected with the input end of the first-stage reducer through a shaft coupling with a working brake, and the output end of the first-stage reducer is connected with the input shaft of the second-stage reducer through a shaft coupling; The output shaft of the second-stage reducer is sequentially connected with the open gear through a shaft coupling I, a short shaft and a shaft coupling II, and the open gear is fixedly connected with the follow-up gear ring system; The opening door section floating section gear ring and the closing door section floating section gear ring comprise a movable section gear ring, a gear ring fixed truss and a jacking hydraulic cylinder; The movable section gear ring is fixed to the gear ring fixed truss through bolts, the back surface of the gear ring fixed truss is provided with a vertical guide sliding block, and the vertical guide sliding block is slidingly installed in a vertical guide groove; The piston rod of the jacking hydraulic cylinder is hinged to the hinge support of the gear ring fixed truss, and drives the movable section gear ring to rise and fall; The four-bar displacement mechanism comprises a liquid gas spring, a bottom cross bar, a vertical bar I, a vertical bar II and a top cross bar; The lower end of the liquid gas spring is hinged to the bottom cross bar, the bottom cross bar is respectively hinged to the vertical bar I and the vertical bar II, and the top cross bar is parallel to the bottom cross bar and is hinged to the vertical bar I and the vertical bar II; The top cross bar is installed with a fork arm through a self-lubricating sliding block, the two ends of the fork arm are hinged to a gear bracket, and the bracket is provided with a forward guide wheel and a reverse guide wheel in contact with a guide rail; The fixed section gear ring comprises a fixed gear ring, a buried part and a butt joint locking cylinder; The fixed gear ring is connected with the buried part through bolts, and the buried part is fixed to the concrete bearing wall through anchor rods; The output end of the butt joint locking cylinder is connected with a pin shaft, and the pin shaft can be inserted into the butt joint locking hole of the floating section gear ring to realize locking.

2. A method of driving a floating gate with self-adapting five-dimensional displacement, characterized in that The method is performed by using the self-adaptive five-dimensional displacement floating gate drive device of claim 1, and the method comprises the following steps: S1. Initial positioning and butt joint locking After the floating gate is floated, the movable section gear ring is driven to descend synchronously by the jacking hydraulic cylinder under the control of a servo control system until the floating gate matches the running height; after the floating gate is lifted to the running position, the pin shaft is inserted into the butt joint locking hole by the butt joint locking cylinder to realize the butt joint locking of the floating section gear ring and the fixed section gear ring, and a continuous gear ring transmission path is formed; S2. Driving rotation and five-dimensional displacement adaptive adjustment Based on the continuous gear ring transmission path formed in step S1, the working brake is released, the motor is loaded and drives the open gear to rotate through the two-stage reducer, and the floating gate is rotated around the central spherical hinge; during the rotation, the four-bar displacement mechanism is used to adaptively adjust the roll, pitch or compound displacement of the floating gate to maintain the meshing of the open gear and the gear ring; S3. Limit protection and reset If the roll or pitch displacement of the floating gate exceeds the preset limit, the hydraulic gas spring triggers the sensor, the control motor unloads, the working brake releases, and the floating gate resets to the safe range by its self-stabilizing characteristics; after resetting, step S2 is executed again to continue rotating. S4. Final position locking and system resetting After the floating gate rotates to the final position, the docking locking cylinder is separated from the pin shaft to release the lock; the working brake is closed, the motor is unloaded, and the floating gate is filled with water and sunk to the bottom, and the hydraulic oil cylinder drives the movable segment gear ring to rise until the gate falls to the bottom sill.

3. The method of claim 2, wherein, In step S1, the synchronous descent of the movable segment gear ring is guided by the vertical guide sliding block along the vertical guide groove, and the descent height is matched with the floating height of the floating gate in real time by the servo control system.

4. The method of claim 2, wherein, In step S2, the pitch displacement adaptive adjustment is specifically: if the pitch occurs, the bottom crossbar of the four-bar mechanism acts on the hydraulic gas spring force exceeding the set threshold, the four-bar mechanism end moves along the radial direction of the steel arm, the open gear moves vertically along the surface of the gear ring, and the steel arm end rotates around the center ball hinge in the plumb plane without changing the meshing relationship between the open gear and the gear ring.

5. The method of claim 2, wherein, In step S2, the roll displacement adaptive adjustment is specifically: if the roll occurs, the open gear bracket rotates along the forked arm hinge axis of the four-bar mechanism end to adapt to the roll movement of the steel arm, that is, the steel arm end rotates around the roll movement center axis of the floating gate without changing the meshing relationship between the open gear and the gear ring.

6. The method of claim 2, wherein, In step S2, the composite displacement adaptive adjustment is specifically: if the complex motion of superimposed pitch and roll occurs, the center axis of the roll movement changes uncertainly, the four-bar mechanism end moves along the radial direction of the steel arm, the open gear moves vertically along the surface of the gear ring, and the open gear bracket rotates to realize the adaptive change of the center axis of the roll movement.

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