Device and method for disassembling and assembling indoor cooler of waterwheel of hydropower station

Abstract

The invention discloses a device and method for disassembling and assembling a cooler in a waterwheel chamber of a hydropower station, and the device comprises a rack which is arranged in the waterwheel chamber; the two synchronous walking mechanisms are oppositely arranged on the rack and are respectively connected with the rack in a sliding manner for supporting; the main beam is arranged between the two synchronous walking mechanisms, and the two ends of the main beam are rotationally connected with the synchronous walking mechanisms correspondingly; the turnover mechanism is arranged on the main beam and the synchronous walking mechanism so as to drive the main beam to rotate; the main beam is in sliding connection with the lifting mechanism through the transverse moving mechanism so as to drive the lifting mechanism to slide along the main beam to adjust the position; and the lifting mechanism is provided with the holding mechanism, the lifting mechanism is used for driving the holding mechanism to move up and down, and the holding mechanism is used for holding and releasing the cooler. Automation and precision of disassembly and assembly of the cooler in the waterwheel chamber of the hydropower station are achieved, efficiency can be improved, safety is guaranteed, and labor cost is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of equipment for disassembling and assembling waterwheel indoor coolers, and particularly to a device and method for disassembling and assembling an indoor cooler for a hydroelectric power station waterwheel. Background Technology

[0002] The turbine chamber of a large hydropower station is mainly used to install key equipment such as turbines and generator sets. It converts the potential energy of water flow into mechanical energy through components such as turbine shafts, servo drives, and control loops, making it a core component of the hydropower station. Regular cleaning, maintenance, and replacement of the internal coolers are crucial for ensuring the efficient operation of the turbines. Because coolers are typically installed at high positions, exceeding 2 meters in size and weighing nearly 1 ton, traditional disassembly and assembly operations rely heavily on manual or semi-mechanized methods. This results in low efficiency, high labor intensity, poor positioning accuracy, and a high risk of equipment collisions or personnel accidents. Especially in the confined space and complex environment of the turbine chamber, manual operation is difficult and risky, and the disassembly and assembly process requires extremely high precision in positioning and docking the coolers. Traditional methods are insufficient to meet the demands of modern industrial systems for automated and intelligent operation and maintenance.

[0003] Therefore, there is an urgent need to develop an automated and high-precision device for disassembling and assembling the cooler inside the waterwheel of a hydropower station, in order to improve operational efficiency, ensure operational safety, and reduce labor costs. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a device and method for disassembling and assembling the indoor cooler of the waterwheel in a hydropower station, so as to install and disassemble the indoor cooler of the waterwheel in a hydropower station efficiently and safely.

[0005] To achieve the above objectives, in a first aspect, this application provides a device for disassembling and assembling an indoor cooler in a hydroelectric power station turbine, comprising: A frame, which is installed inside the waterwheel chamber; Two synchronous walking mechanisms are arranged opposite each other on the frame and are slidably connected and supported to the frame respectively; The main beam is positioned between two synchronous walking mechanisms, with both ends of the main beam rotatably connected to the synchronous walking mechanisms respectively. A tilting mechanism is provided on the main beam and the synchronous walking mechanism to drive the main beam to rotate; A lateral movement mechanism is provided, in which the main beam is slidably connected to the lifting mechanism to drive the lifting mechanism to slide and adjust its position along the main beam; A lifting mechanism is provided, on which a clamping mechanism is installed. The lifting mechanism is used to drive the clamping mechanism to move up and down, and the clamping mechanism is used to clamp and release the cooler.

[0006] The frame includes an inner ring track and an outer ring track; the inner ring track and the outer ring track are concentrically arranged in the waterwheel chamber; two synchronous walking mechanisms are slidably installed on the inner ring track and the outer ring track, respectively.

[0007] The synchronous walking mechanism includes an arc-shaped slot seat, a walking motor, and walking wheels. The arc-shaped slot seat is adapted to the frame and is slidably mounted on the frame. Multiple walking wheels are rotatably mounted inside the arc-shaped slot seat and supported on the frame. The walking motor is mounted on the arc-shaped slot seat, and the power output end of the walking motor is connected to at least one walking wheel for transmission.

[0008] The synchronous walking mechanism further includes a positioning unit; the positioning unit includes multiple positioning bases, which are respectively set on the inner ring track and / or the outer ring track; the positioning bases are provided with positioning holes and / or QR code information, and one or more of proximity switches, electromagnetic pins and cameras are installed on the arc-shaped slot.

[0009] The flipping mechanism includes a flipping drive motor, a flipping drive wheel, and a flipping driven wheel. The flipping drive motor is mounted on one of the synchronous walking mechanisms. The flipping drive wheel is mounted on the output shaft of the flipping drive motor. The flipping drive wheel meshes with the flipping driven wheel. The flipping driven wheel is mounted on the main beam.

[0010] The lateral movement mechanism includes a lateral movement drive mechanism, linear guides, and a slider; two linear guides are fixedly installed on the main beam and are arranged in parallel. A slider is slidably installed on the linear guides, and a lifting mechanism is installed on the slider. The lateral movement drive mechanism is connected to both the main beam and the lifting mechanism for transmission, so as to drive the lifting mechanism to slide along the main beam.

[0011] A sliding block is also slidably mounted on the main beam, and the sliding block is fixedly installed with the lifting mechanism.

[0012] The lifting mechanism includes a lifting push mechanism, a slotted seat, and a lifting plate. The top of the slotted seat is connected to the transverse movement mechanism. Opposite sliding grooves are provided on the two side walls inside the slotted seat. The lifting plate is slidably connected to the sliding grooves on both sides. The lifting push mechanism is installed on the slotted seat and is connected to the lifting plate for transmission, so as to drive the lifting plate to move up and down along the sliding groove. There are several clamping mechanisms on the side of the lifting plate facing away from the slotted seat.

[0013] Two fixed racks are installed in parallel on the bottom wall of the slotted seat, and two movable racks are installed in parallel on the side of the lifting plate facing the slotted seat. The two fixed racks and the two movable racks are respectively meshed by two movable gears. The two movable gears are rotatably installed at both ends of the movable seat. The lifting and pushing mechanism is connected to the movable seat to drive the movable seat to move along the axial direction of the slotted seat.

[0014] Secondly, this application provides a method for disassembling and assembling a disassembly and assembly device for a hydroelectric power station waterwheel indoor cooler, used for installing and disassembling the waterwheel indoor cooler. The disassembly method employs the reverse steps of the installation method, wherein the installation method includes the following steps: S1. Moving to the entrance and loading stage: Transport the cleaned cooler to the entrance / exit of the water tank room; make fine-tuning of the position with visual guidance, and open the clamping mechanism to align the cooler; S2, Clamping and Locking Stage: The clamping mechanism clamps the cooler, and after confirming that the cooler is firmly clamped, it prepares to proceed to the next step. S3, Lifting, Lateral Movement and Tilting Stage: After the cooler is securely held, the synchronous walking mechanism starts and moves the cooler along the predetermined path to the installation position; during this process, the stability of the cooler is ensured and collisions with surrounding equipment are avoided; through pre-set path planning and program control, the cooler is gradually moved to the correct installation position through the coordinated cooperation of the tilting mechanism and the lateral movement mechanism. S4. After the cooler reaches the designated position, position correction is performed to ensure that the cooler is correctly placed in the installation position. After confirming that the cooler is correctly installed and fixed, the clamping mechanism releases the cooler, and the lifting mechanism, lateral movement mechanism and tilting mechanism return to the initial position according to the preset program. The synchronous walking mechanism starts, and the device returns to the preset position at the entrance and exit, waiting for the next operation command.

[0015] Compared with the prior art, the above-conceptual technical solution conceived in this application has the following beneficial effects: The frame of this invention is used for the movement of two synchronous walking mechanisms. The synchronous walking mechanism is used for the 360-degree rotation of the load-bearing main beam along the frame. The tilting mechanism is used to drive the main beam to rotate 360 ​​degrees. The lateral movement mechanism is used to drive the lifting mechanism to slide and adjust its position along the main beam. The lifting mechanism is used to drive the clamping mechanism to move up and down. The clamping mechanism is used to clamp and release the cooler. This invention significantly shortens the cooler assembly and disassembly time through device operation, making it suitable for frequent maintenance scenarios and improving work efficiency. It can be adjusted according to different waterwheel interior layouts and cooler types, making it highly adaptable and versatile. It reduces reliance on skilled workers, lowering labor costs. It avoids manual entry into narrow or high-risk environments, ensuring operational safety and improving overall safety. Attached Figure Description To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0016] Figure 1 This is a schematic diagram of the overall structure of the hydroelectric power station waterwheel indoor cooler disassembly and assembly device for clamping the cooler, as per the present invention. Figure 1 .

[0017] Figure 2This is a schematic diagram of the overall structure of the hydroelectric power station waterwheel indoor cooler disassembly and assembly device for clamping the cooler, as per the present invention. Figure 2 .

[0018] Figure 3 This is a bottom view of the hydroelectric power station waterwheel indoor cooler disassembly and assembly device of the present invention, showing the cooler being held in place.

[0019] Figure 4 This is a schematic diagram of the internal structure of the lifting mechanism of the hydropower station waterwheel indoor cooler disassembly and assembly device of the present invention.

[0020] Figure 5 A schematic diagram of the overall structure of the cooling unit installation and disassembly device for the water turbine interior of a hydroelectric power station.

[0021] Figure 6 A schematic diagram of the internal structure of the cooling unit installation and disassembly device for the water turbine of a hydroelectric power station.

[0022] Figure label: Cooler 1, lifting plate 2, arc-shaped slot seat 3, slot-shaped seat 4, main beam 5, tilting driven wheel 6, walking motor 7, tilting drive wheel 8, walking wheel 9, clamping mechanism 10, linear guide rail 11, lateral movement drive mechanism 12, fixed rack 13, movable gear 14, moving rack 15, inner ring track 16, outer ring track 17, entrance / exit 18, slide seat 19, lifting and pushing mechanism 20, slide groove 21, movable seat 22. Detailed Implementation

[0023] To more clearly illustrate the purpose, technical solution, and beneficial effects of this application, a further detailed description of this application is provided below in conjunction with illustrations and specific embodiments. It should be specifically noted that the specific embodiments described below are only for illustrating the technical content of this application and do not constitute a limitation on the scope of protection of this application.

[0024] Regarding the explanation of terminology: In this application, "and / or" is used to describe the relationship between related objects, covering three possible situations: taking "A and / or B" as an example, it can indicate the situation where only A exists, A and B exist simultaneously, or only B exists; the symbol " / " indicates the "or" relationship between related objects, such as "A / B" which refers to A or B.

[0025] Regarding the description of the embodiments: The terms "exemplary" and "for example" appearing in this application are only used to illustrate the technical solutions through specific examples. It should be particularly emphasized that any implementation method or design scheme marked as "exemplary" or "for example" should not be construed as having an advantage over other solutions. Such expressions are only used to present the technical concepts more intuitively.

[0026] Example 1: See Figure 1-6 This invention provides a device for disassembling and assembling an indoor cooler in a hydroelectric power station waterwheel, comprising: The frame is located inside the waterwheel room; Two synchronous walking mechanisms are mounted opposite each other on the frame and are slidably connected and supported to the frame respectively; Main beam 5 is positioned between two synchronous walking mechanisms, with both ends of main beam 5 rotatably connected to the synchronous walking mechanisms respectively. A tilting mechanism is installed on the main beam 5 and the synchronous walking mechanism to drive the main beam 5 to rotate 360 ​​degrees. The main beam 5 is slidably connected to the lifting mechanism via the lateral movement mechanism, so as to drive the lifting mechanism to slide and adjust its position along the main beam 5; The lifting mechanism is equipped with a clamping mechanism 10. The lifting mechanism is used to drive the clamping mechanism 10 to move up and down. The clamping mechanism 10 is used to clamp and release the cooler 1.

[0027] The frame is used for the movement of two synchronous walking mechanisms. The synchronous walking mechanism is used for the main beam 5 to rotate 360 ​​degrees along the frame. The flipping mechanism is used to drive the main beam 5 to rotate 360 ​​degrees. The lateral movement mechanism is used to drive the lifting mechanism to slide and adjust its position along the main beam 5. The lifting mechanism is used to drive the clamping mechanism 10 to move up and down. The clamping mechanism 10 is used to clamp and release the cooler 1.

[0028] Figure 1 The diagram shown is a schematic of the overall structure of the waterwheel indoor cooler disassembly and assembly device that holds the cooler in place.

[0029] H-beams are preferred for the main beam 5 to reduce weight while ensuring sufficient rigidity and avoid excessive deformation under load.

[0030] The clamping mechanism 10 adopts one of the existing pneumatic clamping mechanism 10, hydraulic clamping mechanism 10, electric clamping mechanism, etc., to achieve clamping and releasing of the cooler 1.

[0031] Furthermore, a right-angle rotating platform can be installed at the connection between the clamping mechanism 10 and the lifting mechanism. The right-angle rotating platform supports a rotation range of ±45 degrees, which means that the clamping mechanism 10 can rotate 45 degrees to the left and right of the vertical axis. This allows the clamping mechanism 10 to flexibly adjust the direction of the cooler 1 while performing the gripping operation, thereby improving the flexibility and accuracy of the operation.

[0032] See Figure 5 , 6 The frame includes an inner ring track 16 and an outer ring track 17; the inner ring track 16 and the outer ring track 17 are concentrically arranged in the waterwheel chamber; two synchronous walking mechanisms are slidably installed on the inner ring track 16 and the outer ring track 17 respectively, and the two synchronous walking mechanisms can move 360 ​​degrees in a ring on the inner ring track 16 and the outer ring track 17 respectively.

[0033] Through the above technical solution, the inner and outer ring tracks provide a 360-degree ring movement path for the synchronous walking mechanism, which is adapted to the installation characteristics of the cooler 1 in the ring layout of the waterwheel chamber, and achieves coverage of the cooler 1 in different positions; it solves the problem that the traditional single straight track can only cover a local area. The concentric inner and outer ring tracks can cover the entire ring range of the waterwheel chamber, without the need for multiple disassemblies and re-fixing of the track, reducing the track adjustment time.

[0034] In this embodiment, see Figure 1 , 3 The synchronous walking mechanism includes an arc-shaped groove seat 3, a walking motor 7, and walking wheels 9. The arc-shaped groove seat 3 is adapted to the frame and is slidably mounted on the frame. Multiple walking wheels 9 are rotatably mounted inside the arc-shaped groove seat 3 and are supported on the frame. The walking motor 7 is mounted on the arc-shaped groove seat 3, and the power output end of the walking motor 7 is connected to at least one walking wheel 9 for transmission.

[0035] In the two synchronous walking mechanisms, the walking wheel 9 of one synchronous walking mechanism is supported on the inner ring track 16, and the walking wheel 9 of the other synchronous walking mechanism is supported on the outer ring track 17, so that the main beam 5, the lateral movement mechanism, the clamping mechanism 10, and the flipping mechanism can move 360 ​​degrees in a ring along the inner ring track 16 and the outer ring track 17.

[0036] Through the above technical solution, the two synchronous walking mechanisms are adapted to the inner and outer circular tracks respectively. The walking motor 7 drives the walking wheel 9 to move along the track, which drives the main beam 5, the lateral movement mechanism and other components to move synchronously, ensuring that the main beam 5 always remains horizontal and avoiding unilateral deviation.

[0037] In this embodiment, the synchronous walking mechanism further includes a positioning unit. The positioning unit includes multiple positioning bases, which are respectively set on the inner annular track 16 and / or the outer annular track 17; the positioning bases are provided with positioning holes and / or QR code information, and the arc-shaped slot 3 is equipped with one or more of the following: proximity switch, electromagnetic pin, and camera, so as to achieve precise docking of the device during use.

[0038] Multiple positioning bases and QR code information are set up one-to-one with multiple coolers in the water turbine chamber. The position of the positioning base can be detected by a proximity switch; the device can be limited and prevented from shaking by inserting an electromagnetic pin into the positioning hole on the positioning base; and the QR code information can be identified by a camera to confirm the corresponding cooler and its information.

[0039] See Figure 1The tilting mechanism includes a tilting drive motor, a tilting drive wheel 8, and a tilting driven wheel 6. The tilting drive motor is mounted on one of the synchronous walking mechanisms. The tilting drive wheel 8 is mounted on the output shaft of the tilting drive motor. The tilting drive wheel 8 meshes with the tilting driven wheel 6. The tilting driven wheel 6 is mounted on the main beam 5.

[0040] Through the above technical solution, the flip drive motor drives the flip drive wheel 8 to rotate, and the flip drive wheel 8 meshes with the flip driven wheel 6, thereby driving the flip driven wheel 6 to rotate, which in turn drives the main beam 5, the transverse mechanism, the lifting mechanism and the cooler 1 to achieve 360-degree flipping, adapting to different installation postures of the cooler 1 such as vertical, horizontal and inclined.

[0041] See Figure 3 The transverse movement mechanism includes a transverse movement drive mechanism 12, linear guide rails 11, and a slider. Two linear guide rails 11 are fixedly installed on the main beam 5 and are arranged in parallel. A slider is slidably installed on the linear guide rails 11. A lifting mechanism is installed on the slider. The transverse movement drive mechanism 12 is connected to both the main beam 5 and the lifting mechanism for transmission, so as to drive the lifting mechanism to slide along the main beam 5.

[0042] The slider is slidably adapted to the linear guide rail 11, the slider is connected to the lifting mechanism, and the transverse drive mechanism 12 can adopt a ball screw pair transmission structure or a gear rack pair transmission structure.

[0043] Through the above technical solution, the movement of the slider along the linear guide rail 11 drives the lifting mechanism, the clamping mechanism 10 and the cooler 1 to make lateral fine adjustments along the length of the main beam 5, so as to ensure that the clamping mechanism 10 is accurately aligned with the cooler 1.

[0044] Furthermore, a sliding block 19 is also slidably mounted on the main beam 5, and the sliding block 19 is fixedly installed with the lifting mechanism. This improves the stability of the connection between the lifting mechanism and the main beam 5.

[0045] See Figure 4The lifting mechanism includes a lifting push mechanism 20, a slotted seat 4, and a lifting plate 2. The top of the slotted seat 4 is connected to a transverse mechanism. Opposite sliding grooves 21 are provided on the two side walls of the slotted seat 4. The lifting plate 2 is slidably connected to the sliding grooves 21 on both sides. The lifting push mechanism 20 is mounted on the slotted seat 4 and is connected to the lifting plate 2 for transmission, driving the lifting plate 2 to move up and down along the sliding grooves 21. Several clamping mechanisms 10 are located on the side of the lifting plate 2 facing away from the slotted seat 4. The lifting push mechanism 20 drives the lifting plate 2, thereby driving it to move up and down along the sliding grooves 21 to adjust the height of the cooler 1. In this embodiment, the lifting push mechanism 20 can be a hydraulic cylinder, in which case the piston rod of the hydraulic cylinder is connected to the lifting plate 2; or it can be a ball screw drive structure, in which case the lifting push mechanism 20 is a motor, the output shaft of which is equipped with a screw, and a nut is fixedly installed on the lifting plate 2, with the screw and nut screwed together.

[0046] Further, see also Figure 4 Two fixed racks 13 are installed in parallel on the bottom wall inside the slotted seat 4. Two movable racks 15 are installed in parallel on the side of the lifting plate 2 facing the slotted seat 4. The two fixed racks 13 and the two movable racks 15 are respectively meshed by two movable gears 14. The two movable gears 14 are rotatably installed at both ends of the movable seat 22. The lifting and pushing mechanism 20 is connected to the movable seat 22 to drive the movable seat 22 to move along the axial direction of the slotted seat 4.

[0047] When the lifting and pushing mechanism 20 adopts a hydraulic cylinder, the piston rod of the hydraulic cylinder is connected to the movable seat 22; when the lifting and pushing mechanism 20 adopts a ball screw pair transmission structure, the lifting and pushing mechanism 20 is a motor, the output shaft of the motor is equipped with a screw, the movable seat 22 is provided with a threaded hole in the middle, and the screw is screwed into the threaded hole.

[0048] Through the above technical solution, the extension and retraction of the slotted seat 4 and the clamping mechanism 10 are realized by the lifting and pushing mechanism 20, which drives the cooler 1 to move closer to or away from the mounting base.

[0049] Example 2: A method for disassembling and assembling a disassembly and assembly device for a hydroelectric power station waterwheel indoor cooler is provided. This method is used for installing and disassembling the waterwheel indoor cooler. The disassembly method is the reverse of the installation method, which includes the following steps: S1, see also Figure 5 Moving to the entrance and loading stage: Transporting the cleaned cooler 1 to the entrance / exit 18 of the water tank room; fine-tuning the position through visual guidance, and opening the clamping mechanism 10 to align the cooler 1; S2, Clamping and Locking Stage: Clamping mechanism 10 clamps cooler 1, and after confirming that cooler 1 is firmly clamped, prepares to proceed to the next step; S3, see also Figure 6 Lifting, lateral movement and flipping stages: After the cooler 1 is firmly held, the synchronous walking mechanism is activated to move the cooler 1 along the predetermined path to the installation position; during this process, the stability of the cooler 1 is ensured and collisions with surrounding equipment are avoided; through pre-set path planning and program control, the cooler 1 is gradually moved to the correct installation position through the coordinated cooperation of the flipping mechanism and the lateral movement mechanism. S4. When the cooler 1 reaches the designated position, position correction is performed to ensure that the cooler 1 is correctly placed in the installation position. After confirming that the cooler 1 is correctly installed and fixed, the clamping mechanism 10 releases the cooler 1, and the lifting mechanism, lateral movement mechanism and flipping mechanism return to the initial position according to the preset program. The synchronous walking mechanism is started, and the device returns to the preset position of the entrance / exit 18, waiting for the next operation command.

[0050] Furthermore, each cooler mounting plate is connected to two coolers, which are referred to as cooler A and cooler B respectively. Cooler A and cooler B are set opposite each other on the cooler mounting plate. When disassembling, cooler A is disassembled first. After the main beam 5 is rotated 180 degrees by the flipping mechanism, cooler B is disassembled. The principle of disassembling the left side first, and then adjusting the angle to disassemble the right side after the left side is moved must be followed to prevent cooler A, cooler B and disassembly and assembly devices from interfering with each other. Combination Figure 4 When the slotted seat 4 is in this state and the cooler A can be removed, after the cooler A is removed, the main beam 5 is driven to rotate 180 degrees by the flipping mechanism. At this time, the slotted seat 4 faces the other side of the main beam 5, and the cooler B can be removed.

[0051] Example 4 This embodiment is based on embodiment 3.

[0052] The specific steps for disassembling cooler A and cooler B are as follows: S1. Preparations before disassembly and system initialization S101. Start the disassembly and assembly device control system, including the host computer, the slave computer PLC and the sensing system, and load the water turbine chamber circular track map and the preset position parameters of the two relative coolers 1 (A, B). S102. Check the condition of the inner and outer circular tracks: Confirm that the tracks are free of debris and that the positioning base (with positioning holes or QR codes) is intact. Use the laser displacement sensor to calibrate the initial zero point of the synchronous walking mechanism (stopping at the starting mark position of the track). S103. Deploy intelligent transfer trolleys: Park the two intelligent transfer trolleys on the pre-set unloading areas on both sides of the waterwheel room entrance, avoiding the circular track movement path, and check the flatness of the trolley tooling and the power supply status. S104. Safety Confirmation: Clear personnel and obstacles from the area within 1.5m around coolers A and B. Use ultrasonic sensors to delineate independent safe working areas for the two coolers 1 and set up "Disassembly in Progress" warning signs.

[0053] S2. Initial positioning and locking of the first cooler 1 (cooler A) S201, Synchronous walking mechanism operation: The control system drives two synchronous walking mechanisms on the inner and outer circular tracks to move along the circular tracks directly above the cooler A; during the movement, the positioning base coordinates with the vision camera installed above the clamping mechanism 10 to ensure that the center line of the main beam 5 is aligned with the center axis of the cooler A through the QR code information of the positioning base. S202, Lifting Mechanism Adjustment: Start the lifting drive motor to drive the lifting plate 2 of the lifting mechanism to slide down along the back plate 4, causing the clamping mechanism 10 to descend to the clamping height of the cooler A; monitor the distance between the clamping mechanism 10 and the cooler A in real time through the laser displacement sensor to avoid collision; S203, Clamping and Locking: Control the opening of the clamping mechanism 10's claws, with the opening range adapted to the diameter of cooler A. Slide along the main beam 5 to finely adjust the transverse movement mechanism so that the claws precisely fit against both sides of cooler A. Start the clamping drive motor, which drives the claws to close via a screw drive. The torque sensor provides real-time feedback on the clamping force, and stops when the clamping force reaches the set value. Trigger the electromagnetic lock to lock the claw position and prevent cooler A from loosening.

[0054] S3. Disassembly and relocation of the first cooler 1 (cooler A) S301, Cooler A Attitude Adjustment and Lifting: Activate the lifting mechanism to raise cooler A to a safe height (500mm higher than surrounding equipment to avoid collisions during movement); if cooler A is installed horizontally, activate the tilting mechanism: the tilting drive motor drives the tilting drive wheel 8 to mesh with the tilting driven wheel 6, driving the main beam 5 to rotate 90° around the rotation axis, changing cooler A from a horizontal state to a vertical state (the tilt sensor monitors the attitude in real time, and automatically stops when the tilt exceeds the set angle). S302, Transfer to unloading area: The synchronous walking mechanism moves along the inner and outer circular tracks, driving cooler A to move to the unloading area of ​​the first intelligent transfer trolley; during the movement, the laser radar scans the path in real time to avoid the safe working area of ​​cooler B and track obstacles. If an abnormality is encountered (such as track impurities), the speed will be automatically reduced and an alarm will be triggered. S303, Unloading and Trolley Transfer: After cooler A is moved directly above the transfer trolley, the lifting mechanism descends and places cooler A stably in the positioning slot of the trolley fixture; after confirming that cooler A is stable, the gripping mechanism 10 opens its claws, the electromagnetic lock unlocks, and the lifting mechanism rises and resets; control the first transfer trolley to transport cooler A out of the water tank room and park it in the outdoor temporary storage area.

[0055] S4. Initial positioning and locking of the second cooler 1 (cooler B) S401, Synchronous walking mechanism reset and movement: The control system drives the synchronous walking mechanism on the inner and outer circular tracks to move from the unloading area of ​​cooler A along the circular track to the opposite side of cooler B directly above it. When it moves to the position of cooler B, it ensures that the center line of the main beam 5 is aligned with the center axis of cooler B through dual calibration of the positioning hole of the positioning base and the laser displacement sensor. After alignment, the flipping mechanism is rotated to make the lifting mechanism rotate to the same side of cooler B. S402, Lifting and Clamping Action: Repeat steps 2-3 in S2: The lifting mechanism drives the clamping mechanism 10 to descend to the clamping height of the cooler B, the clamping claws open and the fine-tuning lateral movement mechanism aligns with the cooler B, the clamping drive motor drives the clamping claws to close, and when the torque sensor feedback that the clamping force reaches 18kN, the electromagnetic lock is locked to ensure that the cooler B is firmly clamped.

[0056] S5. Disassembly and relocation of the second cooler 1 (cooler B) S501, Disassembly of Connecting Parts: The operator removes the fixing bolts and water pipe flange connections between the cooler B and the base. The control system monitors the disassembly progress through a vision camera to ensure that no connecting parts remain. S502, Attitude Adjustment and Lifting: Start the lifting mechanism to raise the cooler B to a safe height. If it is installed horizontally, start the tilting mechanism to rotate it 90° to a vertical state. The tilt sensor monitors the attitude stability in real time. S503, Transfer and Unloading: The synchronous walking mechanism moves cooler B along the circular track to the unloading area of ​​the second intelligent transfer trolley, and the path planning avoids the already emptied installation position of cooler A; after arriving at the unloading area, the lifting mechanism lowers to place cooler B on the trolley fixture, the gripper opens, the electromagnetic lock unlocks, and the lifting mechanism rises to reset; the second transfer trolley is controlled to transport cooler B out of the water tank room and store it together with cooler A. The disassembly of cooler A and cooler B is realized through this cooler disassembly and assembly device.

[0057] S6. Disassembly / assembly device reset and on-site inspection S601, Equipment Reset: The synchronous walking mechanism returns to the initial zero point along the circular track, and the lateral movement mechanism, lifting mechanism, and tilting mechanism are all reset to their initial states (claws close, lifting mechanism rises to the highest position, and tilting mechanism returns to horizontal). S602. Status check: The control system automatically detects the parameters of each mechanism (positioning accuracy of synchronous walking mechanism, torque of clamping mechanism 10, and stroke of lifting mechanism) to confirm that there are no abnormalities; the positioning base and walking wheel 9 of the inner and outer ring track are manually inspected for wear, and debris on the track is cleaned. S603, Safety Completion: Turn off the "Disassembly in Progress" warning sign, clear the water truck room work area, record the disassembly time and equipment operation data (such as clamping force and movement path) of the two coolers 1, and generate a disassembly report.

[0058] While specific embodiments of the present invention have been described above, those skilled in the art should understand that the specific embodiments described are merely illustrative and not intended to limit the scope of the invention. Modifications and variations made by those skilled in the art in accordance with the spirit of the invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A water power plant water wheel room indoor cooler dismounting device, characterized in that, The utility model relates to a waterwheel cooling device, including: A rack is arranged in a waterwheel room; Two synchronous walking mechanisms are oppositely arranged on the rack and are respectively slidably connected with the rack; A main beam (5) is arranged between the two synchronous walking mechanisms, and the two ends of the main beam (5) are rotatably connected with the synchronous walking mechanisms; A turnover mechanism is arranged on the main beam (5) and the synchronous walking mechanisms to drive the main beam (5) to rotate; A transverse moving mechanism is slidably connected between the main beam (5) and a lifting mechanism to drive the lifting mechanism to slide along the main beam (5) to adjust the position; A lifting mechanism is arranged on the main beam (5) and is used to drive a clamping mechanism (10) to move up and down, and the clamping mechanism (10) is used to clamp and release a cooler (1).

2. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 1, characterized in that, The rack comprises an inner annular track (16) and an outer annular track (17), and the inner annular track (16) and the outer annular track (17) are concentrically arranged in the waterwheel room; the two synchronous walking mechanisms are slidably arranged on the inner annular track (16) and the outer annular track (17) respectively.

3. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 2, characterized in that, The synchronous walking mechanism comprises an arc-shaped groove base (3), a walking motor (7) and a walking wheel (9), the arc-shaped groove base (3) is matched with the rack, the arc-shaped groove base (3) is slidably arranged on the rack, a plurality of walking wheels (9) are rotatably arranged in the arc-shaped groove base (3), the walking wheels (9) are supported on the rack, the walking motor (7) is arranged on the arc-shaped groove base (3), and the power output end of the walking motor (7) is connected with at least one walking wheel (9) to drive.

4. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 3, characterized in that, The synchronous walking mechanism further comprises a positioning unit, the positioning unit comprises a plurality of positioning bases, and the plurality of positioning bases are arranged on the inner annular track (16) and / or the outer annular track (17); the positioning base is provided with a positioning hole and / or two-dimensional code information, and the arc-shaped groove base (3) is provided with one or more of a proximity switch, an electromagnetic bolt and a camera.

5. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 1, characterized in that, The turnover mechanism comprises a turnover driving motor, a turnover driving wheel (8) and a turnover driven wheel (6), the turnover driving motor is arranged on one of the synchronous walking mechanisms, the turnover driving wheel (8) is arranged on the output shaft of the turnover driving motor, the turnover driving wheel (8) is engaged with the turnover driven wheel (6), and the turnover driven wheel (6) is arranged on the main beam (5).

6. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 1, characterized in that, The transverse moving mechanism comprises a transverse moving driving mechanism (12), a linear guide rail (11) and a sliding block, two linear guide rails (11) are fixedly arranged on the main beam (5), the two linear guide rails (11) are arranged in parallel, the sliding block is slidably arranged on the linear guide rail (11), the lifting mechanism is arranged on the sliding block, and the transverse moving driving mechanism (12) is connected with the main beam (5) and the lifting mechanism to drive the lifting mechanism to slide along the main beam (5).

7. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 6, characterized in that, A sliding seat (19) is slidably arranged on the main beam (5), and the sliding seat (19) is fixedly arranged with the lifting mechanism.

8. A waterwheel indoor cooler dismounting device of a hydroelectric station according to claim 1, characterized in that, The lifting mechanism comprises a lifting pushing mechanism (20), a slot-shaped seat (4) and a lifting plate (2), the top of the slot-shaped seat (4) is connected with the transverse moving mechanism, opposite sliding grooves (21) are arranged on the two side walls in the slot-shaped seat (4) respectively, the lifting plate (2) is connected with the two sliding grooves (21) in sliding fit, the lifting pushing mechanism (20) is installed on the slot-shaped seat (4), the lifting pushing mechanism (20) is connected with the lifting plate (2) in transmission, so as to drive the lifting plate (2) to move up and down along the sliding groove (21), and a plurality of holding mechanisms (10) are arranged on the side of the lifting plate (2) away from the slot-shaped seat (4).

9. A water mill indoor cooler dismounting device according to claim 8, characterized in that, Two fixed racks (13) are arranged in parallel on the bottom wall in the slot-shaped seat (4), two moving racks (15) are arranged in parallel on the side of the lifting plate (2) facing the slot-shaped seat (4), the two fixed racks (13) and the two moving racks (15) are engaged through two movable gears (14) respectively, and the two movable gears (14) are rotatably installed at the two ends of a movable seat (22); the lifting pushing mechanism (20) is connected with the movable seat (22), so as to drive the movable seat (22) to move along the axial direction of the slot-shaped seat (4).

10. A method of disassembling the water power plant water wheel indoor cooler disassembling device according to claim 1, for installing and disassembling the water wheel indoor cooler, the disassembling method adopts the reverse steps of the installing method, wherein, The installation method comprises the following steps: S1, moving to the entrance and loading stage: the cleaned cooler (1) is transported to the entrance (18) of the waterwheel room; the position is finely adjusted through visual guidance, and the holding mechanism (10) is opened to align the cooler (1); S2, holding and locking stage: the holding mechanism (10) holds the cooler (1), and after confirming that the cooler (1) is firmly held, the next operation is prepared; S3, lifting, transverse moving and overturning stage: after the cooler (1) is firmly held, the synchronous walking mechanism is started, the cooler (1) is moved to the installation position along the predetermined path; in this process, the stability of the cooler (1) is ensured, and collision with surrounding equipment is avoided; through the pre-set path planning and program control, the cooler (1) is gradually moved to the correct installation position through the coordinated cooperation of the overturning mechanism and the transverse moving mechanism; S4, when the cooler (1) reaches the specified position, the position is corrected, the cooler (1) is correctly placed in the installation position, after confirming that the cooler (1) is correctly installed and fixed, the holding mechanism (10) releases the cooler (1), the lifting mechanism, the transverse moving mechanism and the overturning mechanism retreat to the initial position according to the pre-set program, the synchronous walking mechanism is started, and the device returns to the pre-set position of the entrance (18) and waits for the next operation instruction.

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