Pin penetrating trolley for hydraulic engineering emergency gate pull rod and pin penetrating and withdrawing method

Abstract

The invention relates to the technical field of hydraulic engineering gates, and aims to solve the problems that an existing pin shaft operating mechanism needs to enter underwater along with a pull rod and is prone to corrosion or being immersed by silt, so that operation is difficult, an operator operates above an emergency gate orifice, and the risk is high. The invention provides a pin penetrating trolley for a hydraulic engineering emergency gate pull rod and a pin penetrating and withdrawing method, and the pin penetrating trolley comprises a walking mechanism, a frame, a centering adjusting mechanism, a pin shaft penetrating and withdrawing mechanism, a sliding platform and a locking platform; the method comprises a pin penetrating operation method and a pin withdrawing operation method. The independent pin penetrating trolley is adopted, the pin shaft operation mechanism is separated from the pull rod, the problems of corrosion and sediment blockage caused by the fact that a traditional pin shaft operation mechanism enters underwater along with the pull rod to be soaked are thoroughly avoided, the pull rod pin shaft penetrates into or retreats from a pull rod shaft hole through the pin shaft penetrating and retreating mechanism, and an operator does not need to be close to an emergency gate orifice; high-place edge operation is avoided, and the operation risk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water conservancy gate, in particular to a pinning trolley for water conservancy emergency gate pull rod and a pinning and unpinning method. BACKGROUND

[0002] Water conservancy projects such as hydropower stations and reservoirs are generally equipped with gates to intercept water flow, control water level, regulate flow, discharge sediment and floating objects, etc. Among them, some important dams and inlet of flood discharge channel are provided with emergency gates, which are used to cut off the water flow when the working gate at the outlet is under maintenance or fails to work normally. As an important flood control and flood prevention facility, it ensures the normal operation and maintenance of water conservancy projects. The hoist and emergency gate are generally connected by multiple sections of pull rods, and the adjacent two sections of pull rods are connected and separated by the pinning and unpinning of the pin shaft. The pin shaft is inserted into or withdrawn from the connecting ear hole of the adjacent two sections of pull rods by the pin shaft operating mechanism.

[0003] Since the pin shaft and the pin shaft operating mechanism are immersed in water for a long time, the sediment in the water is easy to enter the pin shaft operating mechanism, and the pin shaft cannot be normally inserted / withdrawn, which will cause the emergency gate to be unable to close according to the predetermined time, affecting the safe operation of the water conservancy facility.

[0004] Therefore, whether the structure and operation mode of the pin shaft operating mechanism are reasonable and convenient to use will directly affect whether the pin shaft can be quickly inserted and withdrawn, and whether the emergency gate can operate normally.

[0005] At present, the pin shaft between the adjacent two sections of pull rods of the emergency gate is mainly inserted and withdrawn by the pin shaft operating mechanism arranged on the pull rod (as shown in Figure 1 The pin shaft operating mechanism includes a guide cylinder, a lead screw, a speed reducer and an operating hand wheel. The guide cylinder is fixed on the outer side of the pull rod, the sleeve is provided with the lead screw, one end of the lead screw is fixedly connected with the pin shaft, the lead screw can move along the axial direction of the guide cylinder, thereby driving the pin shaft to move along the axial direction of the guide cylinder to complete the insertion and withdrawal. The shaft of the operating hand wheel is connected with the speed reducer, the lead screw is connected with the speed reducer through a transmission nut, the lead screw and the transmission nut are connected through threads, the transmission nut rotates, the lead screw moves axially relative to the transmission nut, and thus the rotary motion of the operating hand wheel is converted into the linear motion of the lead screw. When operating, the operator rotates the operating hand wheel on the maintenance platform, drives the pin shaft to move axially along the guide cylinder through the speed reducer and the lead screw, and realizes the insertion / withdrawal of the pin shaft.

[0006] This way mainly has the following shortcomings: 1. The pin shaft operating mechanism needs to be submerged underwater along with the pull rod. Due to long-term immersion, the various parts are prone to rust or mud and sand, making operation difficult. Usually, four people are required to work in shifts, resulting in low work efficiency, high labor costs, and a serious reduction in the response speed of flood control facilities. 2. The maintenance platform where the workers are standing is located above the opening of the accident gate, which is considered high-altitude work near the edge. There is a risk of tools and personnel falling, making the operation risky. Summary of the Invention

[0007] This invention aims to provide a pin-threading trolley for the tie rod of an emergency gate in water conservancy projects, as well as a method for threading and unthreading the pin, to solve the problems of existing pin shaft operating mechanisms that need to be submerged underwater with the tie rod, making them prone to corrosion or being submerged in mud and sand, resulting in difficult operation and high risks for operators who operate above the emergency gate opening.

[0008] This invention is achieved using the following technical solution: This invention provides a pin-threading trolley for emergency gate levers in water conservancy projects, comprising a traveling mechanism, a frame, a centering adjustment mechanism, a pin threading and unthreading mechanism, a sliding platform, and a locking platform; The traveling mechanism is installed at the bottom of the frame and is used to drive the pin-threading trolley to the working position; The centering adjustment mechanism is mounted on the frame, and the pin insertion and withdrawal mechanism is installed on the centering adjustment mechanism. The centering adjustment mechanism is used to adjust the position of the pin insertion and withdrawal mechanism. The pin insertion and withdrawal mechanism is used to place the tie rod pin, and the pin insertion and withdrawal mechanism can insert or withdraw the tie rod pin into or out of the tie rod shaft hole. The sliding platform is slidably mounted on the chassis, and its position on the chassis can be locked. The locking platform is located on one side of the frame and can be docked and locked with the sliding platform to form a working channel. The locking platform serves as an operating platform for installing and removing the pin locking plate, and also as a monitoring platform for the alignment status and insertion / retraction process of the tie rod pin.

[0009] As a preferred technical solution: The pin-operated trolley used for the emergency gate lever in water conservancy projects also includes a protective fence, which is fixed to the frame.

[0010] As a preferred technical solution: The protective fence includes a fence, kickboards, and ladders. The fence is fixedly connected to the vehicle frame, the kickboards are fixed to the bottom of the fence, and the ladders are installed on both sides of the fence.

[0011] As a preferred technical solution: The running gear includes multiple drive wheel assemblies symmetrically arranged at the bottom of the frame; Each drive wheel assembly includes a walking drive unit, a drive wheel, a steering drive unit, a transmission gear, and a stationary gear; The walking drive unit is connected to the drive wheel, the steering drive unit is connected to the transmission gear, the transmission gear meshes with the fixed gear, and the fixed gear is fixedly connected to the frame. A magnetic sensor is installed on the drive wheel to cooperate with the navigation magnetic strip set on the working surface.

[0012] As a preferred technical solution: The walking drive unit is a walking motor, and the steering drive unit is a steering motor.

[0013] As a preferred technical solution: The chassis includes a main frame and a floating support frame, with the floating support frame mounted on one side of the bottom of the main frame; The main frame includes a frame plate and sliding rails. The sliding rails are symmetrically arranged on the frame plate and are used to cooperate with the sliding platform. The floating support frame is rotatably connected to the main frame, and a buffer is provided between the floating support frame and the main frame; Drive wheel assemblies are symmetrically mounted on the main frame and floating support frame.

[0014] As a preferred technical solution: The centering adjustment mechanism includes an up-and-down adjustment component, a left-and-right adjustment component, a front-and-back buffer component, and a load-bearing fixing component; The load-bearing fixing component, front and rear buffer component, left and right adjustment component, and up and down adjustment component are assembled sequentially from top to bottom.

[0015] As a preferred technical solution: The height adjustment assembly includes a symmetrically arranged lifting mechanism, which includes a lift drive unit, a screw lift, and a screw. The lift drive unit is connected to the screw lift, and the screw lift is connected to the screw. The lift drive unit drives the screw lift to work, causing the screw to move up and down. The lift drive unit and the screw lift are mounted on the vehicle frame, and one end of the screw is connected to the left and right adjustment components. The left and right adjustment assembly includes a left and right drive device, a drive screw, and a left and right adjustment support plate; The left and right drive devices are mounted on the left and right adjustment bearing plates. The drive screw is connected to the left and right drive devices. A moving block is set on the drive screw. The left and right drive devices drive the drive screw to rotate, so that the moving block moves on the drive screw. The moving block is connected to the front and rear buffer components. The front and rear buffer assembly includes front and rear buffer bearing plates, slider two, guide rail two, and pin ring; Guide rail 2 and pin ring are mounted on front and rear buffer bearing plates. Slider 2 is slidably mounted on guide rail 2 and connected to the bearing fixing component. Buffer blocks are provided at the front and rear ends of the front and rear buffer bearing plates. The buffer blocks are used to cooperate with the ends of the bearing fixing component. The load-bearing and fixing assembly includes a load-bearing plate, a connecting arm, an electric piston, a fixed shaft, and an elastic element; The support plate is used to install the fixed pin retraction mechanism; the fixed shaft is fixedly installed on the support plate, and the connecting arm is rotatably connected to the fixed shaft; an electric piston is connected between the connecting arm and the support plate, and the electric piston is used to control the rotation of the connecting arm to realize the connection and separation with the tie rod; the elastic element is fixedly connected to the support plate, and the elastic element is connected to the pin ring.

[0016] As a preferred technical solution: The elastic element is a spring.

[0017] As a preferred technical solution: The left and right adjustment assembly also includes a slider and a guide rail. The guide rail is mounted on the left and right adjustment support plate, and the slider is slidably mounted on the guide rail. The slider is connected to the front and rear buffer assembly.

[0018] As a preferred technical solution: Limit sensors are arranged at both ends of the drive screw.

[0019] As a preferred technical solution: The moving block is connected to the front and rear buffer components via a connecting plate.

[0020] As a preferred technical solution: The lift drive unit is a servo motor, the left and right drive units are adjustment servo motors, and the drive screw is a servo motor drive screw.

[0021] As a preferred technical solution: The pin threading and unthreading mechanism includes a support frame, a floating support mechanism, a two-stage pin threading cylinder, and a stroke detection device. The floating support mechanism, the secondary pin-type hydraulic cylinder, and the stroke detection device are all mounted on the support frame; The floating support mechanism includes a V-shaped support roller and a lifting cylinder. The lifting cylinder is mounted on the support frame, and the V-shaped support roller is connected to the top of the lifting cylinder. The V-shaped support roller is used to support the tie rod pin. The piston rod of the secondary pin-piercing cylinder is supported on the connecting crossbeam, which is slidably mounted on the support frame. The end of the piston rod of the secondary pin-piercing cylinder is used to connect with the pull rod pin. A traction plate is fixedly connected to the connecting crossbeam. The pull rope of the stroke detection device is connected to the traction plate. The stroke detection device is used to detect the extension or retraction length of the piston rod of the secondary through-pin cylinder.

[0022] As a preferred technical solution: The piston rod end of the secondary pin-driven cylinder is fixedly connected with a connecting clip, which allows the secondary pin-driven cylinder to be quickly connected to the tie rod pin.

[0023] As a preferred technical solution: The connecting crossbar is sleeved on the guide rod and can slide along the guide rod. The guide rod is mounted on the support frame through the guide rod mounting seat.

[0024] As a preferred technical solution: The pin-threading trolley used for the emergency gate lever in water conservancy projects also includes a hydraulic system. The hydraulic system is mounted on the frame and is connected to the secondary pin-threading cylinder and the lifting cylinder. The hydraulic system is used to provide power to the secondary pin-threading cylinder and the lifting cylinder.

[0025] As a preferred technical solution: The pin-threading trolley used for the emergency gate lever in water conservancy projects also includes an electronic control system. The electronic control system is connected to the walking drive device, steering drive device, lifting drive device, left and right drive device, secondary pin-threading cylinder, lifting cylinder, and electric piston to control each actuator.

[0026] The present invention further provides a method for inserting and removing pins using the above-mentioned pin insertion trolley for the pull rod of the emergency gate in water conservancy project; The specific steps of the pinning operation include: S1A: Move the pin-threading trolley to the gate opening; S2A: The pin-threading trolley travels along the navigation magnetic strip set on the working surface and stops at the working position; S3A: Move the locking platform to the gate opening, connect and lock the sliding platform of the pin-threading trolley to the locking platform; S4A: The pin insertion and retraction mechanism is raised or lowered to the working height by the centering adjustment mechanism so that the height of the tie rod pin is matched with that of the tie rod shaft hole; S5A: Hoist the tie rod pin onto the pin insertion and retraction mechanism, and connect the tie rod pin to the piston rod of the secondary pin insertion cylinder of the pin insertion and retraction mechanism; S6A: Confirm that the tie rod pin is aligned with the tie rod shaft hole; If not aligned, operate the alignment adjustment mechanism to align the tie rod pin with the tie rod shaft hole; If the match is successful, proceed to the next step; S7A: Adjust the connecting arm to connect it with the pull rod, thus connecting the pin-feeding trolley to the pull rod; S8A: The pin insertion and retraction mechanism initiates the pin insertion action, causing the piston rod of the secondary pin insertion cylinder to push the tie rod pin toward the tie rod shaft hole; S9A: The extension length of the piston rod of the secondary pin-threading cylinder is detected by the stroke detection device to determine whether the pin threading is completed; If not completed, the pin retraction mechanism continues to operate until the stroke detection device sends a stroke completion signal; If completed, proceed to the next step; S10A: Disconnect the piston rod of the secondary through-pin cylinder from the tie rod pin, and install a pin locking plate at the end of the tie rod pin; Adjust the connecting arm to separate it from the pull rod; S11A: Disconnect the sliding platform from the locking platform and reset the sliding platform and locking platform to their initial state; S12A: The pin-threading trolley moves along the navigation magnetic strip and exits the gate opening; S13A: Pin insertion operation completed; The specific steps for handling returns and sales include: S1B: Move the pin-threading trolley to the gate opening where the pin has been threaded; S2B: The pin-threading trolley travels along the navigation magnetic strip set on the working surface and stops at the working position; S3B: Move the locking platform to the gate opening, connect and lock the sliding platform of the pin-threading trolley to the locking platform; S4B: The pin threading and unthreading mechanism is raised or lowered to the working height by the centering adjustment mechanism so that the height of the secondary pin threading cylinder of the pin threading and unthreading mechanism matches that of the tie rod pin. S5B: Extend the piston rod of the secondary pin-threading cylinder of the pin-threading mechanism to the connection position with the tie rod pin; S6B: Confirm whether the piston rod of the secondary through-pin cylinder is aligned with the tie rod pin; If not aligned, operate the alignment adjustment mechanism to align the piston rod of the secondary through-pin cylinder with the tie rod pin. If the match is successful, proceed to the next step; S7B: Connects the piston rod of the secondary through-pin hydraulic cylinder to the tie rod pin; Adjust the connecting arm to connect it with the pull rod, thus connecting the pin-threading trolley to the pull rod; Remove the pin locking plate on the tie rod pin; S8B: The pin retraction mechanism initiates the pin retraction action, causing the piston rod of the secondary pin-threading cylinder to pull the connecting rod pin out of the connecting rod shaft hole; S9B: The retraction length of the piston rod of the secondary pin-feeding cylinder is detected by the stroke detection device to determine whether the pin retraction is complete; If not completed, the pin retraction mechanism continues to operate until the stroke detection device sends a stroke completion signal; If completed, proceed to the next step; S10B: Disconnect the piston rod of the secondary through-pin cylinder from the tie rod pin; Adjust the connecting arm to separate it from the pull rod; Hoist the tie rod pin to the designated position; S11B: Disconnect the sliding platform from the locking platform and reset the sliding platform and locking platform to their initial state; S12B: The pin-threading trolley moves along the navigation magnetic strip and exits the gate opening; S13B: Return and cancellation process completed.

[0027] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. The pin-threading trolley of the present invention is used for the pin threading and unthreading operation of the emergency gate pull rod. The present invention adopts an independent pin-threading trolley core architecture design, which separates the pin-operating mechanism from the pull rod, completely avoiding the problems of corrosion and mud blockage caused by the traditional pin-operating mechanism being immersed underwater with the pull rod. The position of the pin threading and unthreading mechanism is adjusted by the centering adjustment mechanism, and then the pull rod pin is threaded into or out of the pull rod shaft hole by the pin threading and unthreading mechanism. This reduces the labor intensity of the operators and saves production costs. Moreover, the pin-threading trolley of the present invention can cover the open space of the gate opening, providing a safe working platform for the workers. The operators do not need to be close to the emergency gate opening, avoiding high-altitude and edge-prone operations, reducing the risk of tools and personnel falling, and reducing the operational risks.

[0028] 2. The pin-threading trolley of the present invention has a simple structure, high structural strength, safety and reliability, is easy to manufacture, easy to move, and simple to operate. It can improve the efficiency of inserting or removing the pin shaft of the emergency gate, effectively shorten the opening and closing period of the emergency gate, ensure the safe and efficient operation of the emergency gate, and guarantee the rapid response of flood control and flood prevention facilities.

[0029] 3. This invention achieves precise positioning of the pin-threading trolley through the cooperation of the navigation magnetic strip and the magnetic sensor. Combined with the centering adjustment mechanism for multi-dimensional adjustment of the pin threading and unthreading mechanism, it greatly improves the reliability and efficiency of the pin threading and unthreading, eliminating the need for multiple people to work in shifts and significantly reducing labor costs.

[0030] 4. The floating support mechanism of the present invention allows the protrusion at the end of the pin to pass smoothly through by floating up and down.

[0031] 5. The centering adjustment mechanism of the present invention has lifting and left-right adjustment functions, which can meet the precise centering requirements of the pin and the tie rod shaft hole, and can also adapt to the connection of tie rods of different lengths and tie rods with shaft holes of different heights.

[0032] 6. The multiple drive wheel assemblies of the present invention can ensure that the pin-threading trolley can move quickly on the dam surface; the floating support frame design of the present invention can cope with uneven ground conditions; the pin-threading trolley of the present invention can meet the operational needs of multiple gate openings.

[0033] 7. The locking platform of the present invention can be connected to the sliding platform, which facilitates the installation and disassembly of the pin locking plate and makes it convenient to perform pin insertion and pin removal operations.

[0034] 8. The protective fence and the guardrail on the locking platform of the present invention can achieve full-enclosure protection of the working platform, greatly improve the safety of operation, and prevent tools and personnel from falling off the trolley during use. It is easy to operate and has good safety performance.

[0035] 9. The electrical control system of the present invention realizes automated control, status monitoring and fault alarm of the pin insertion and removal through PLC, ensuring accurate and controllable operation and effectively shortening the opening and closing period of the emergency gate; the pin insertion trolley of the present invention has high automation and intelligence functions, can quickly realize the positioning of the operation position, and can record and monitor the operation process. The trolley has various protections such as pressure, stroke and limit.

[0036] 10. The pin-threading trolley of the present invention is reusable and has broad application prospects.

[0037] 11. The pin insertion and retraction method of the present invention is standardized. The pin insertion and retraction stroke can be accurately controlled by the stroke detection device, and the centering adjustment mechanism can quickly correct the position deviation and achieve centering. Compared with traditional manual operation, it greatly improves the work efficiency, and the work process is safe and controllable, providing reliable technical support for the maintenance and repair of accident gates in water conservancy projects. Attached Figure Description

[0038] Figure 1 This is a schematic diagram of the walking mechanism described in this invention.

[0039] Figure 2 This is a schematic diagram of the drive wheel assembly described in this invention.

[0040] Figure 3 This is a schematic diagram of the vehicle frame described in this invention.

[0041] Figure 4 This is a schematic diagram of the main frame structure described in this invention. Figure 1 .

[0042] Figure 5 This is a schematic diagram of the main frame structure described in this invention. Figure 2 .

[0043] Figure 6 This is a schematic diagram of the floating support frame described in this invention.

[0044] Figure 7 This is a schematic diagram of the centering adjustment mechanism described in this invention.

[0045] Figure 8This is a schematic diagram showing the disassembled centering adjustment mechanism described in this invention.

[0046] Figure 9 This is a schematic diagram of the up-down adjustment component described in this invention.

[0047] Figure 10 This is a schematic diagram of the left and right adjustment component described in this invention. Figure 1 .

[0048] Figure 11 This is a schematic diagram of the left and right adjustment component described in this invention. Figure 2 .

[0049] Figure 12 This is a schematic diagram of the front and rear buffer components described in this invention.

[0050] Figure 13 This is a schematic diagram of the structure of the load-bearing fixing component described in this invention. Figure 1 .

[0051] Figure 14 This is a schematic diagram of the structure of the load-bearing fixing component described in this invention. Figure 2 .

[0052] Figure 15 This is a schematic diagram of the pin threading and unthreading mechanism described in this invention.

[0053] Figure 16 This is a schematic diagram of the structure of the tie rod pin installed in the pin insertion and withdrawal mechanism described in this invention.

[0054] Figure 17 This is a schematic diagram of the protective fence described in this invention.

[0055] Figure 18 This is a schematic diagram of the structure of the sliding platform described in this invention. Figure 1 .

[0056] Figure 19 This is a schematic diagram of the structure of the sliding platform described in this invention. Figure 2 .

[0057] Figure 20 This is a schematic diagram of the unfolded structure of the sliding platform fence described in this invention.

[0058] Figure 21 This is a schematic diagram of the hydraulic system described in this invention.

[0059] Figure 22 This is a schematic diagram of the hydraulic system described in this invention.

[0060] Figure 23 This is a schematic diagram of the structure of the electronic control system described in this invention.

[0061] Figure 24 This is a schematic diagram of the locking platform described in this invention.

[0062] Figure 25 This is a schematic diagram of the pin-threading trolley for the emergency gate pull rod in water conservancy projects according to the present invention.

[0063] Figure 26 This is a flowchart of the pin-threading operation described in this invention.

[0064] Figure 27 This is a flowchart of the return and resale process described in this invention.

[0065] Figure 28 This is a schematic diagram of the pin-threading trolley for the emergency gate pull rod of a water conservancy project, as described in this invention.

[0066] Figure 29 This is a schematic diagram of the pin-removing mechanism of the pin-threading trolley used for the emergency gate pull rod in water conservancy projects according to the present invention.

[0067] Icons: 1-Walking mechanism, 2-Frame, 3-Centering adjustment mechanism, 4-Pin shaft insertion and withdrawal mechanism, 5-Guard fence, 6-Sliding platform, 7-Hydraulic system, 8-Electrical control system, 9-Locking platform, 10-Drive wheel assembly, 11-Walking motor, 12-Drive wheel, 13-Steering motor, 14-Transmission gear, 15-Fixed gear, 16-Bolt hole, 17-Magnetic sensor, 18-Navigation magnetic strip, 21-Main frame, 22-Floating support frame, 211-Frame plate, 212-Sliding guide rail, 213-Mounting plate, 214-Floating support frame mounting plate, 215-Drive wheel assembly mounting plate, 216-Frame end mounting plate, 221-Floating support frame mounting plate, 2 22-Shaft 1, 223-Buffer, 224-Drive wheel assembly mounting plate, 225-Floating support frame body, 31-Up-down adjustment assembly, 32-Left-right adjustment assembly, 33-Front-back buffer assembly, 34-Bearing and fixing assembly, 311-Servo motor, 312-Screw lifting machine, 313-Screw, 314-Connecting plate 1, 315-Guide shaft, 316-Bearing, 317-Guide connecting plate, 318-Pull rope sensor, 321-Adjusting servo motor, 322-Fixing plate, 323-Left-right adjusting bearing plate, 324-Servo motor drive screw, 325-Connecting plate 2, 326-Slider 1, 327-Guide rail 1, 328-Limit sensor, 331-Slider 2, 33 2-Guide rail two, 333-Buffer block, 334-Pin ring, 335-Front and rear buffer bearing plates, 341-Bearing plate, 342-Connecting arm, 343-Electric piston, 344-Fixed shaft, 345-Spring, 41-Support frame, 42-Floating support mechanism, 43-Secondary pin cylinder, 44-Stroke detection device, 421-V-type support roller, 422-Lifting cylinder, 431-Connecting clip, 432-Connecting crossbeam, 433-Guide rod, 441-Traction plate, 51-Fence, 52-Connecting plate three, 53-Kickboard, 54-Ladder, 61-Sliding platform fence, 62-Fixed shaft, 63-Pin, 64-Slide groove, 65-Roller, 66-Locking pin, 67- Sliding platform base plate, 71-Hydraulic pump station, 72-Oil tank, 73-Hydraulic pump, 74-Relief valve, 75-Pressure gauge, 76-Solenoid unloading valve, 77-Pressure reducing valve one, 78-Pin solenoid valve, 79-One-way throttle valve, 710-Pressure reducing valve two, 711-Lifting cylinder solenoid directional valve, 712-Throttle and pressure maintaining valve, 713-Synchronous motor, 714-Hand pump, 81-Electrical control cabinet, 82-Display screen, 83-Warning light, 91-Wheel caster, 92-Opening, 93-Pull rope fence, 94-Guardrail, 101-Pull rod pin, 102-Pull rod locking plate, 103-Pull rod one, 104-Pull rod two, 105-Door slot, 106-Locking beam, 107-Intelligent pin-operated trolley. Detailed Implementation

[0068] 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.

[0069] Example 1 like Figures 1-25 As shown in the figure, this embodiment proposes a pin-threading trolley for the pull rod of the emergency gate in water conservancy projects, including a traveling mechanism 1, a frame 2, a centering adjustment mechanism 3, a pin threading and unthreading mechanism 4, a protective fence 5, a sliding platform 6, and a locking platform 9.

[0070] The traveling mechanism 1 is installed at the bottom of the frame 2. The traveling mechanism 1 is used to drive the pin-threading trolley to move precisely on the working surface, so that the pin-threading trolley can quickly reach the designated position.

[0071] Preferred, such as Figure 1 and Figure 2 As shown, the walking mechanism 1 includes four drive wheel assemblies 10, each of which includes a walking motor 11, a drive wheel 12, a steering motor 13, a transmission gear 14, and a fixed gear 15. The output shaft of the walking motor 11 is connected to the drive wheel 12. The walking motor 11 is used to drive the drive wheel 12 to rotate, so as to realize the walking function of the pin-threading trolley. The walking motor 11 and the drive wheel 12 are mounted on the drive wheel frame. The fixed gear 15 is fixedly mounted on the frame 2. The transmission gear 14 meshes with the fixed gear 15. The transmission gear 14 is connected to the output shaft of the steering motor 13. The steering motor 13 is used to drive the transmission gear 14 to rotate. The steering motor 13 is fixedly mounted on the drive wheel frame. With the above structure, when the steering motor 13 drives the transmission gear 14 to rotate, the transmission gear 14 meshes with the fixed gear 15. By driving the transmission gear 14 to rotate around the fixed gear 15 through the steering motor 13, the steering of the drive wheel 12 is realized.

[0072] Preferably, the four drive wheel assemblies 10 are respectively arranged at the four corners of the bottom of the frame 2, so that the pin-threading trolley can move, turn and make precise adjustments to its position on the working surface to reach the gate opening (such as the emergency gate opening or the storage gate slot opening) that needs to be operated.

[0073] Preferably, the fixed gear 15 is provided with a plurality of bolt holes 16 at intervals, and the fixed gear 15 can be fixedly connected to the frame 2 by installing bolts in the bolt holes 16.

[0074] Preferably, each drive wheel assembly 10 is equipped with a magnetic sensor 17, specifically, it can be installed on the drive wheel 12. Navigation magnetic strips 18 are provided on the working surfaces on both sides of the gate opening. The magnetic sensor 17 and the navigation magnetic strips 18 work together to realize the coordinate reading and precise position adjustment of the pin-threading trolley, so that the pin-threading trolley can smoothly reach the gate opening where the operation is required.

[0075] Specifically, the magnetic sensor 17 detects the magnetic field characteristics emitted by the navigation magnetic strip 18 to ensure that the pin-threading trolley travels within the width range of the magnetic strip of the navigation magnetic strip 18, ensuring that the trolley does not deviate from its course; the surface of the navigation magnetic strip 18 has position tags evenly distributed, and the magnetic sensor 17 detects the changes in the magnetic field of the position tags, which can read the current position of the trolley, so as to adjust the position of the pin-threading trolley and stop traveling at the specified position.

[0076] Preferably, the walking mechanism 1 is not limited to the above structure; other walking devices that can drive the pin-threading trolley to move are also acceptable.

[0077] Among them, the frame 2 serves as the load-bearing structure of the pin-threading trolley, combining the various mechanisms of the pin-threading trolley into a whole and forming a working platform.

[0078] Preferably, the frame 2 integrates the traveling mechanism 1, the centering adjustment mechanism 3, the pin insertion and withdrawal mechanism 4, etc. into a whole, and provides a safe and stable working platform and passage for the operators, and transmits the load weight and the force generated by each component to the traveling mechanism 1.

[0079] Preferred, such as Figures 3-6 As shown, the frame 2 includes a main frame 21 and a floating support frame 22. The floating support frame 22 is installed on one side of the bottom of the main frame 21. The main frame 21 is used to integrate various components, and the floating support frame 22 is used to stabilize the vehicle body posture, so that the four drive wheels 12 installed under the frame 2 always keep in contact with the working ground, avoiding unstable support conditions with three-point contact.

[0080] Preferably, the main frame 21 can be made of profiles such as square tubes and sheet metal.

[0081] Preferably, the main frame 21 includes a frame plate 211, a sliding guide rail 212, a mounting plate 213, a floating support frame mounting plate 214, a drive wheel assembly mounting plate 215, and a frame end mounting plate 216. A sliding guide rail 212 is symmetrically fixedly installed on the top of the frame flat plate 211. A sliding platform 6 is installed on the sliding guide rail 212 and can slide along the sliding guide rail 212. Mounting plate 213 is fixedly installed on the top of frame plate 211. Mounting plate 213 is used to install centering adjustment mechanism 3. The floating support bracket mounting plate 214 is fixedly installed on one side of the bottom of the frame flat plate 211, and the floating support bracket mounting plate 214 is used to connect the floating support bracket 22; The drive wheel assembly mounting plate 215 is fixedly installed on the other side of the bottom of the frame plate 211. The drive wheel assembly mounting plate 215 is used to install the two drive wheel assemblies 10 of the walking mechanism 1. The frame end mounting plate 216 is fixedly installed at the end of the frame plate 211. The frame end mounting plate 216 is used to install a buffer to reduce and absorb the impact of the pin-driven trolley on other structures during use.

[0082] Preferably, the floating support frame 22 includes a floating support frame body 225, a floating support frame mounting plate 221, a shaft 222, a buffer 223, and a drive wheel assembly mounting plate 224; The floating support frame mounting plate 221 is arranged in the middle of the floating support frame body 225, and the floating support frame mounting plate 221 is connected to the floating support frame mounting base plate 214 by bolts to form an integral whole; A shaft 222 is fixedly installed on the main body 225 of the floating support frame. The floating support frame mounting plate 221 is rotatably connected to the shaft 222. The floating support frame mounting plate 221 can rotate around the shaft 222 to adjust its own balance. A buffer 223 is fixedly installed at each of the four corners of the floating support frame body 225. The buffer 223 is located between the floating support frame body 225 and the main frame 21. The buffer 223 is used to maintain the stability of the trolley when it is moving. The drive wheel assembly mounting plate 224 is fixedly mounted on the floating support frame body 225. The drive wheel assembly mounting plate 224 is used to mount the two drive wheel assemblies 10 of the walking mechanism 1.

[0083] Among them, the centering adjustment mechanism 3 is installed on the main frame 21, and the pin shaft insertion and retraction mechanism 4 is installed on the centering adjustment mechanism 3. The centering adjustment mechanism 3 is used to realize the up-down lifting and left-right adjustment of the pin shaft insertion and retraction mechanism 4, which can meet the docking of the tie rod pin shaft 101 with the shaft hole at different heights and positions, so as to achieve the function of fast and accurate alignment.

[0084] Preferred, such as Figures 7-14 As shown, the centering adjustment mechanism 3 includes an up-down adjustment component 31, a left-right adjustment component 32, a front-back buffer component 33, and a load-bearing fixing component 34; The load-bearing fixing component 34 is mounted on the front and rear buffer components 33, the front and rear buffer components 33 are mounted on the left and right adjustment components 32, the left and right adjustment components 32 are mounted on the up and down adjustment components 31, and the up and down adjustment components 31 are mounted on the main frame 21. The up-down adjustment component 31 enables the centering adjustment mechanism 3 to have a large stroke lifting function, so as to meet the docking of the tie rod pin 101 with the shaft hole at different height positions; The left and right adjustment component 32 enables the centering adjustment mechanism 3 to be adjusted horizontally, thereby achieving precise adjustment of the horizontal position of the tie rod pin 101. The front and rear buffer assembly 33 allows the bearing fixing assembly 34 to move within a small range along the axis of the tie rod pin 101, and is equipped with a buffer device to reduce the impact during the pin insertion and removal process; The bearing fixing component 34 is used to fix the pin insertion and retraction mechanism 4 and bear the reaction force during the pin insertion and retraction process.

[0085] Preferably, the up-down adjustment assembly 31 includes two sets of lifting mechanisms arranged symmetrically. The lifting mechanism includes a servo motor 311, a lead screw lift 312, a lead screw 313, a connecting plate 314, a guide shaft 315, a bearing 316, a guide connecting plate 317, and a pull rope sensor 318. The servo motor 311 is connected to the lead screw lifting machine 312, and the lead screw lifting machine 312 is connected to the lead screw 313. One servo motor 311 can drive two lead screw lifting machines 312 at the same time, and each lead screw lifting machine 312 can drive one lead screw 313 to move up and down. The connecting plate 314 is installed at one end of the lead screw 313, and the connecting plate 314 is fixedly connected to the upper left and right adjustment component 32, which allows the upper left and right adjustment component 32, front and rear buffer component 33 and bearing fixing component 34 to move up and down together, thereby adjusting the vertical position of the pull rod pin 101. A linear bearing 316 is sleeved on a guide shaft 315, and the guide shaft 315 can move up and down along the linear bearing 316; a guide connecting plate 317 is installed at one end of the guide shaft 315, and the guide connecting plate 317 is fixedly connected to the upper left and right adjustment assembly 32, making it more stable during lifting operations. The pull rope sensor 318 is mounted on the main frame 21. The pull rope of the pull rope sensor 318 is connected to the left and right adjustment assembly 32. The pull rope sensor 318 is used to detect the vertical movement distance of the left and right adjustment assembly 32, which can provide accurate data for the subsequent electronic control system 8, facilitating precise control and position limitation. The servo motor 311, the lead screw lift 312, the linear bearing 316, and the rope sensor 318 are all fixed to the corresponding installation positions on the main frame 21 by bolts. The lead screw 313 moves up and down relative to the main frame 21, which can drive the upper left and right adjustment component 32, the front and rear buffer component 33, and the load-bearing fixing component 34 to move up and down together. The guide shaft 315 moves up and down together with the lead screw 313.

[0086] Preferably, the height adjustment component 31 is not limited to the above structure, and other structures that can realize the lifting function are also possible.

[0087] Preferably, the left and right adjustment assembly 32 includes an adjustment servo motor 321, a fixed plate 322, a left and right adjustment support plate 323, a servo motor drive screw 324, a second connecting plate 325, a first slider 326, a first guide rail 327, and a limit sensor 328. The adjustment servo motor 321 is fixed to the left and right adjustment support plate 323 by the fixing plate 322 (that is, the fixing plate 322 is fixed on the left and right adjustment support plate 323, and the adjustment servo motor 321 is fixed on the fixing plate 322). The output shaft of the servo motor 321 is connected to the servo motor drive screw 324. Adjusting the servo motor 321 can drive the servo motor drive screw 324 to rotate. A movable block is threadedly connected to the servo motor drive screw 324, and a connecting plate 325 is fixedly connected to the movable block. When the servo motor drive screw 324 rotates, the movable block and the connecting plate 325 can move along the servo motor drive screw 324. Therefore, adjusting the servo motor 321 can drive the servo motor drive screw 324 to rotate, thereby moving the connecting plate 325. The connecting plate 325 is fixedly connected to the upper front and rear buffer assembly 33, thereby allowing the front and rear buffer assembly 33, which is fixedly connected to the connecting plate 325, to move left and right. A guide rail 327 is installed on the left and right adjustable bearing plate 323. A slider 326 is slidably arranged on the guide rail 327. The slider 326 is fixedly connected to the upper front and rear buffer assembly 33. The slider 326 can slide along the guide rail 327. The guide rail 327 guides the slider 326. Limit sensors 328 are arranged at both ends of the servo motor drive screw 324. The limit sensors 328 are fixed on the fixed plate 322. The limit sensors 328 are used to detect the movement position of the connecting plate 325, limit its movement distance, and prevent collision and interference.

[0088] Preferably, the left and right adjustment component 32 is not limited to the above structure, and other structures that can realize the left and right movement function are also possible.

[0089] Preferably, the front and rear buffer assembly 33 includes front and rear buffer bearing plates 335, slider 2 331, guide rail 2 332, buffer block 333 and pin ring 334; A guide rail 332 is installed on the front and rear buffer bearing plate 335. A slider 331 is slidably arranged on the guide rail 332. The slider 331 is fixedly connected to the bearing fixing component 34. The slider 331 can slide along the guide rail 332. The guide rail 332 guides the slider 331. The front and rear buffer bearing plates 335 are provided with a total of 4 sets of buffer blocks 333 at the front and rear ends. The buffer blocks 333 are used to cooperate with the ends of the bearing fixing components 34. The buffer blocks 333 are used to limit the displacement of the upper bearing fixing components 34 and play a buffering role to reduce the impact when the pin is inserted / removed. Pin rings 334 are fixedly installed on the front and rear buffer bearing plates 335. Pin rings 334 are used to connect with springs 345 of the upper bearing fixing assembly 34 to further reduce the impact when the pin is inserted / removed.

[0090] Preferably, the front and rear buffer components 33 are not limited to the above structure, and other structures that can realize the front and rear buffer function are also possible.

[0091] Preferably, the load-bearing fixing assembly 34 includes a load-bearing plate 341, a connecting arm 342, an electric piston 343, a fixed shaft 344, and a spring 345; The support plate 341 is used to install and fix the pin threading and retraction mechanism 4. The pin threading and retraction mechanism 4 can follow the centering adjustment mechanism 3 to achieve position centering. The fixed shaft 344 is fixedly mounted on the bearing plate 341, and the connecting arm 342 is rotatably connected to the fixed shaft 344; An electric piston 343 is connected between the connecting arm 342 and the bearing plate 341. Under the control of the electric piston 343, the connecting arm 342 can rotate along the fixed shaft 344 to realize the connection and separation with the pull rod, which is used to overcome the reaction force of the pin during the insertion / retraction process. Spring 345 is fixedly connected to bearing plate 341, and spring 345 is connected to pin ring 334 of the lower front and rear buffer assembly 33 to reduce impact.

[0092] Preferred, such as Figure 15 and Figure 16 As shown, the pin threading and unthreading mechanism 4 includes a support frame 41, a floating support mechanism 42, a secondary pin threading cylinder 43, and a stroke detection device 44; The floating support mechanism 42, the secondary pin-piercing cylinder 43 and the stroke detection device 44 are all mounted on the support frame 41. The support frame 41 integrates all the components together. The support frame 41 is connected to the bearing fixing assembly 34 by bolts. Specifically, the support frame 41 is connected to the bearing plate 341. The floating support mechanism 42 is used to support the tie rod pin 101 that needs to be inserted / retracted. The floating support mechanism 42 includes a V-shaped support roller 421 and a lifting cylinder 422. The lifting cylinder 422 is mounted on the support frame 41, and the V-shaped support roller 421 is mounted on the top of the lifting cylinder 422. The V-shaped support roller 421 can move up and down under the drive of the lifting cylinder 422. The V-shaped support roller 421 is used to support the tie rod pin 101 and reduce the resistance when the pin is inserted or retracted. The up and down floating of the V-shaped support roller 421 facilitates the smooth passage of the protrusion at the end of the pin. The piston rod end of the secondary pin-threading cylinder 43 is fixedly connected to a connecting clip 431. The secondary pin-threading cylinder 43 can be quickly connected to the pull rod pin 101 through the connecting clip 431. The extension and retraction of the piston rod of the secondary pin-threading cylinder 43 can drive the pull rod pin 101 to perform a threading and retraction action, thereby realizing the connection and separation of the pull rod. The piston rod end of the secondary pin-piercing cylinder 43 passes through the connecting crossbeam 432 and is supported on the connecting crossbeam 432. The connecting crossbeam 432 can support the piston rod of the secondary pin-piercing cylinder 43 and prevent the piston rod from extending too far and falling. A guide rod mounting seat is installed on the support frame 41. A guide rod 433 is fixedly connected between the two guide rod mounting seats. A connecting cross frame 432 is sleeved on the guide rod 433. The connecting cross frame 432 is slidably connected to the guide rod 433. The connecting cross frame 432 can slide along the guide rod 433. The stroke detection device 44 is mounted on the support frame 41. A traction plate 441 is fixedly installed on the upper part of the connecting crossbeam 432. The traction plate 441 is connected to the pull rope of the traction stroke detection device 44. When the traction plate 441 moves with the connecting crossbeam 432, it drives the pull rope of the traction stroke detection device 44 to move. The stroke detection device 44 is used to detect the extension or retraction length of the piston rod of the secondary through-pin cylinder 43, so as to realize the automatic control and the stopping function of the limit position.

[0093] Preferably, the protective fence 5 is installed on the frame 2, specifically on the main frame 21. The protective fence 5 is used to provide safe and stable protection for the workers and to prevent tools from falling.

[0094] Preferred, such as Figure 17 As shown, the protective fence 5 is made of profiles and includes a fence 51, a connecting plate 52, a kick plate 53, and a ladder 54. The bottom of the fence 51 is fixedly connected to the connecting plate 3 52, which is connected to the frame 2 by bolts. The bottom of the fence 51 is also fixedly installed with a kick plate 53 to provide safe and reliable protection for the workers. Ladders 54 are installed on both sides of the fence 51 for the workers to go up and down.

[0095] Preferred, such as Figures 18-20 As shown, the sliding platform 6 is slidably mounted on the frame 2. The position of the sliding platform 6 on the frame 2 can be locked. The sliding platform 6 can connect the frame 2 and the locking platform 9 into a whole, and at the same time form a safe passage for workers to pass through.

[0096] Preferably, the sliding platform 6 includes a sliding platform base plate 67, a sliding platform railing 61, a fixed shaft 62, a pin 63, a slide groove 64, a roller 65, and a locking pin 66; The fixed shaft 62 is fixedly connected to the sliding platform base plate 67. One end of the sliding platform railing 61 is rotatably connected to the fixed shaft 62. The sliding platform railing 61 can be rotated 90° around the fixed shaft 62 to open. Then, the sliding platform railing 61 is locked by the pin 63. The sliding platform railing 61 and the sliding platform base plate 67 form a protective platform. A sliding groove 64 is fixedly installed on the bottom of the sliding platform base plate 67. The sliding groove 64 cooperates with the sliding guide rail 212 of the frame 2. The sliding groove 64 can slide along the sliding guide rail 212, thereby realizing the sliding of the entire sliding platform 6. A roller 65 is fixedly installed at the bottom of the sliding platform base plate 67. The roller 65 contacts the frame plate 211 of the frame 2. The roller 65 can reduce the resistance of the sliding platform 6 when sliding. The locking pin 66 is connected between the sliding platform 6 and the frame 2, thereby locking the position of the sliding platform 6 and preventing it from moving during use.

[0097] Preferably, the pin-threading trolley also includes a hydraulic system 7, which serves as the power unit for the pin-threading / retracting mechanism 4 and the floating support mechanism 42, providing power to realize the threading / retracting and vertical floating of the tie rod pin 101. Specifically, the hydraulic system 7 provides power to the secondary pin-threading cylinder 43 and the lifting cylinder 422.

[0098] Preferably, the hydraulic system 7 is mounted on the frame 2 and is connected to the secondary pin cylinder 43 and the lifting cylinder 422.

[0099] Preferred, such as Figure 21 As shown, the hydraulic system 7 includes a hydraulic pump station 71 and its auxiliary pipelines.

[0100] Preferred, such as Figure 22 As shown, the hydraulic pump station 71 includes a hydraulic pump 73, which is connected to the oil tank 72 and the relief valve 74. The overflow valve 74 is connected to the pressure gauge 75, the overflow valve 74 is connected to the pressure reducing valve 77, the pressure reducing valve 77 is connected to the pin-through solenoid valve 78, the pin-through solenoid valve 78 is connected to the one-way throttle valve 79, the one-way throttle valve 79 is connected to the secondary pin-through cylinder 43, and the stroke detection device 44 is used to detect the extension or retraction length of the piston rod of the secondary pin-through cylinder 43. The overflow valve 74 is connected to the pressure reducing valve 710, the pressure reducing valve 710 is connected to the lifting cylinder solenoid directional valve 711, the lifting cylinder solenoid directional valve 711 is connected to the throttling pressure holding valve 712, the throttling pressure holding valve 712 is connected to the synchronous motor 713, the synchronous motor 713 is connected to the lifting cylinder 422, and the lifting cylinder 422 is connected to the V-shaped support roller 421. The electromagnetic unloading valve 76 is connected to the overflow valve 74; The hand-cranked pump 714 is connected between the oil tank 72 and the overflow valve 74.

[0101] The control principle of the hydraulic system 7 of the pin-threading trolley is as follows: Hydraulic pump 73 draws hydraulic oil from oil tank 72 to build up pressure, and the pressure is controlled by relief valve 74 to reach the system control pressure. The system pressure is displayed by pressure gauge 75. When inserting / retracting the tie rod pin 101, the oil pressure already established in the system is adjusted to the working pressure of the secondary pin inserting cylinder 43 via pressure reducing valve 77. The inserting / retracting function is selected via the pin inserting solenoid valve 78, and the flow rate is adjusted via the one-way throttle valve 79, driving the secondary pin inserting cylinder 43 to actuate. When the secondary pin inserting cylinder 43 inserts / retracts to the set stroke, the lifting cylinder solenoid directional valve 711 actuates sequentially. The oil pressure is reduced to the working pressure of the lifting cylinder 422 via pressure reducing valve 710, and then passes through the lifting cylinder solenoid directional valve 711 and the throttle pressure maintaining valve 71. 2. Then, the synchronous motor 713 drives the lifting cylinders 422 to lift and lower in sequence, ensuring that the end protrusion of the tie rod pin 101 passes smoothly. The synchronous motor 713 ensures the synchronicity of the same group of lifting cylinders 422 during lifting and lowering, ensuring that the V-shaped support rollers 421 simultaneously contact or leave the tie rod pin 101. When the stroke detection device 44 sends a signal, when the secondary pin-penetrating cylinder 43 reaches the limit position, each solenoid directional valve (lifting cylinder solenoid directional valve 711 and pin-penetrating solenoid valve 78) returns to the middle position, and the pin-penetrating / retracting work is completed.

[0102] To ensure system safety, the hydraulic system 7 can release pressure via the electromagnetic unloading valve 76 after a specified period of operation. If the hydraulic pump 73 malfunctions, the system pressure can be established via the hand-cranked pump 714 to ensure the normal operation of the hydraulic system 7.

[0103] Preferably, the pin-threading trolley also includes an electronic control system 8, which provides system control for the pin-threading trolley and realizes multiple functions such as automation, monitoring, and adjustment, resulting in an intelligent pin-threading trolley 107.

[0104] Preferably, the electrical control system 8 includes a PLC, a display screen, control buttons, indicator lights, various sensors and electrical components. It mainly provides power to each mechanism, effectively controls each mechanism precisely, and effectively monitors, displays, alarms, and protects the operating status of each mechanism.

[0105] Preferably, the PLC is connected to the display screen, control buttons, indicator lights, various sensors, and electrical components. The various sensors include a magnetic sensor 17, a pull rope sensor 318, a limit sensor 328, and a stroke detection device 44 (stroke sensor). The PLC is connected to the travel motor 11, the steering motor 13, the servo motor 311, the adjustment servo motor 321, the two-stage pin cylinder 43, the lifting cylinder 422, and the electric piston 343. By pressing the corresponding control button, control commands are input to the PLC, thereby enabling the PLC to control each actuator. The magnetic sensor 17, in conjunction with the navigation magnetic strip 18, transmits the coordinates of the pin-threading trolley to the PLC. The PLC calculates the deviation between the coordinates of the pin-threading trolley and the working position coordinates of the gate orifice, and then controls the travel motor 11 and the steering motor 13 to move the pin-threading trolley to the working position of the gate orifice. The pull rope sensor 318 detects the vertical movement distance of the left and right adjustment component 32 and transmits the detected distance data to the PLC. Based on the deviation of the set movement distance, the PLC controls the servo motor 311 to move the left and right adjustment component 32 and the upper front and rear buffer components 33 and the bearing fixing component 34 vertically to the target height. Based on the alignment state of the pull rod pin 101 and the pull rod shaft hole or the alignment state of the piston rod of the secondary pin-threading cylinder 43 and the pull rod pin 101, the PLC controls the adjustment servo motor 321 to work and achieve the desired alignment. In the middle; when the connecting plate 325 contacts the limit sensor 328, the limit sensor 328 transmits the signal that the connecting plate 325 has moved to the limit position to the PLC, and the PLC controls the adjustment servo motor 321 to stop working; the stroke detection device 44 detects the length of the piston rod of the secondary pin-threading cylinder 43 extending or retracting, and transmits the length data to the PLC. The PLC calculates the deviation between the length data and the set pin-threading length / set pin-retraction length, determines whether pin-threading or pin-retraction is completed, and controls the secondary pin-threading cylinder 43 to work; the PLC controls the piston rod of the lifting cylinder 422 to extend and retract, so that the V-shaped support roller 421 floats up and down, so that the protrusion at the end of the pin shaft can pass smoothly; the PLC controls the electric piston 343 to extend and retract, driving the connecting arm 342 to rotate, so that it connects or separates from the pull rod, realizing the connection or separation of the pin-threading trolley and the pull rod.

[0106] like Figure 23 As shown, the main components of the electrical control system 8 (such as PLC) are all installed in the electrical control cabinet 81, and a display screen 82 is provided on its surface to display the main parameters. The electrical control cabinet 81 is equipped with a warning light 83 for fault alarm indication.

[0107] Preferred, such as Figure 24 As shown, the locking platform 9 is used to install the pin locking plate 102, and can also serve as a monitoring platform for observing the alignment and insertion / retraction of the tie rod pin 101.

[0108] Preferably, the locking platform 9 is made of stainless steel profile.

[0109] Preferably, the locking platform 9 includes a locking platform frame, a guardrail 94, and a rope-operated fence 93; The bottom of the locking platform frame is equipped with casters 91, which facilitates the movement and positioning of the locking platform 9; The locking platform frame is equipped with guardrails 94 and pull-rope barriers 93. The pull-rope barriers 93 are located in the middle of one side of the locking platform frame. Openings 92 are provided between the pull-rope barriers 93 and the guardrails 94 on both sides. The locking platform 9 is located on one side of the sliding platform 6, and the two openings 92 cooperate with the sliding platform 6 to form a complete safety protection. A pull rod is arranged between the pull-rope fence 93 and the vehicle frame 2. The pull-rope fence 93 is detachable, which facilitates the installation of the pin locking plate 102 by the operators, and at the same time forms a safety protection with the guardrail 94.

[0110] Example 2 like Figure 26 As shown, this embodiment proposes a method for inserting and removing pins using the pin insertion trolley for the emergency gate pull rod of a water conservancy project as described in Embodiment 1, so as to realize the insertion and removal of the gate pull rod pin shaft 101. The specific steps of the pinning operation include: S1A: Mobile intelligent pin-threading trolley 107 to the gate opening; S2A: The intelligent pin-threading trolley 107 automatically moves along the navigation magnetic strip 18 set on the working surface and accurately stops at the working position; S3A: Move the locking platform 9 to the gate opening, connect and lock the sliding platform 6 of the intelligent pin-threading trolley 107 to the locking platform 9; S4A: The pin insertion and retraction mechanism 4 is raised or lowered to the working height by the centering adjustment mechanism 3 so that the height of the tie rod pin 101 matches that of the tie rod shaft hole. S5A: Hoist the tie rod pin 101 onto the pin insertion and retraction mechanism 4, and connect the tie rod pin 101 to the piston rod of the secondary pin insertion cylinder 43 of the pin insertion and retraction mechanism 4; S6A: Confirm that the tie rod pin 101 is aligned with the tie rod shaft hole; If not aligned, operate the alignment adjustment mechanism 3 to align the tie rod pin 101 with the tie rod shaft hole; If the match is successful, proceed to the next step; S7A: Adjust the connecting arm 342 to connect it with the pull rod, so that the intelligent pin-threading trolley 107 is connected to the pull rod; S8A: Press the pin threading function button on the electric control system 8 on the pin threading trolley to control the pin threading mechanism 4 to start the pin threading action, so that the piston rod of the secondary pin threading cylinder 43 pushes the tie rod pin 101 to move toward the tie rod shaft hole. S9A: The extension length of the piston rod of the secondary pin-threading cylinder 43 is detected by the stroke detection device 44 to determine whether the pin threading is completed; If not completed, the pin retraction mechanism 4 continues to operate until the stroke detection device 44 issues a stroke completion signal; If completed, proceed to the next step; S10A: Disconnect the piston rod of the secondary through-pin cylinder 43 from the tie rod pin 101, and install a pin locking plate 102 at the end of the tie rod pin 101. The pin locking plate 102 can restrict the axial movement of the tie rod pin 101 and prevent it from falling out of the tie rod shaft hole. Adjust the connecting arm 342 to separate it from the pull rod; S11A: Disconnect the sliding platform 6 from the locking platform 9 and reset the sliding platform 6 and the locking platform 9 to their initial state; S12A: The intelligent pin-threading trolley 107 automatically exits the gate opening along the navigation magnetic strip 18; S13A: Pinning operation completed.

[0111] Figure 28 This is a schematic diagram of the pin-threading operation. Figure 28 In the diagram, number 103 is tie rod one, number 104 is tie rod two, number 105 is gate slot, gate slot 105 is the working gate slot or storage gate slot of the emergency gate, and number 106 is locking beam.

[0112] like Figure 27 As shown, the specific steps for the return and cancellation process include: S1B: The mobile intelligent pin-threading trolley 107 moves to the gate opening where the pin has been threaded. S2B: The intelligent pin-threading trolley 107 automatically moves along the navigation magnetic strip 18 set on the working surface and accurately stops at the working position; S3B: Move the locking platform 9 to the gate opening, connect and lock the sliding platform 6 of the intelligent pin-threading trolley 107 to the locking platform 9; S4B: The pin threading and unthreading mechanism 4 is raised or lowered to the working height by the centering adjustment mechanism 3 so that the secondary pin threading cylinder 43 of the pin threading and unthreading mechanism 4 can be matched with the height of the tie rod pin 101. S5B: Extend the piston rod of the secondary pin-threading cylinder 43 of the pin-threading mechanism 4 to the connection position with the pull rod pin 101; S6B: Confirm whether the piston rod of the secondary through-pin cylinder 43 is aligned with the tie rod pin 101; If not aligned, operate the alignment adjustment mechanism 3 to align the piston rod of the secondary through-pin cylinder 43 with the tie rod pin 101; If the match is successful, proceed to the next step; S7B: Connect the piston rod of the secondary through-pin cylinder 43 to the tie rod pin 101; Adjust the connecting arm 342 to connect it with the pull rod, thus connecting the intelligent pin-threading trolley 107 with the pull rod; Remove the pin locking plate 102 on the tie rod pin 101; S8B: Press the pin retraction function button on the electric control system 8 on the pin threading trolley to control the pin threading and retraction mechanism 4 to start the pin retraction action, so that the piston rod of the secondary pin threading cylinder 43 pulls the tie rod pin 101 out of the tie rod shaft hole. S9B: The retraction length of the piston rod of the secondary pin-feeding cylinder 43 is detected by the stroke detection device 44 to determine whether the pin retraction is complete; If not completed, the pin retraction mechanism 4 continues to operate until the stroke detection device 44 issues a stroke completion signal; If completed, proceed to the next step; S10B: Disconnect the piston rod of the secondary through-pin cylinder 43 from the tie rod pin 101; Adjust the connecting arm 342 to separate it from the pull rod; Hoist the tie rod pin 101 to the designated position; S11B: Disconnect the sliding platform 6 from the locking platform 9 and reset the sliding platform 6 and the locking platform 9 to their initial state; S12B: The intelligent pin-threading trolley 107 automatically exits the gate opening along the navigation magnetic strip 18; S13B: Return and cancellation process completed.

[0113] Figure 29 This is a diagram illustrating the return and cancellation process. Figure 29 In the diagram, number 103 is tie rod one, number 104 is tie rod two, number 105 is gate slot, gate slot 105 is the working gate slot or storage gate slot of the emergency gate, and number 106 is locking beam.

[0114] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pin-threading trolley for a hydraulic engineering emergency gate pull rod, characterized in that: It includes a walking mechanism (1), a frame (2), a centering adjustment mechanism (3), a pin threading and unthreading mechanism (4), a sliding platform (6), and a locking platform (9); The traveling mechanism (1) is installed at the bottom of the frame (2) and is used to drive the pin-threading trolley to the working position; The centering adjustment mechanism (3) is mounted on the frame (2), and the pin insertion and withdrawal mechanism (4) is installed on the centering adjustment mechanism (3). The centering adjustment mechanism (3) is used to adjust the position of the pin insertion and withdrawal mechanism (4). The pin insertion and withdrawal mechanism (4) is used to place the tie rod pin, and the pin insertion and withdrawal mechanism (4) can insert or withdraw the tie rod pin into the tie rod shaft hole. The sliding platform (6) is slidably mounted on the frame (2), and the position of the sliding platform (6) on the frame (2) can be locked; The locking platform (9) is arranged on one side of the frame (2), and the locking platform (9) can be docked and locked with the sliding platform (6) to form a working channel; The locking platform (9) serves as an operating platform for installing and removing the pin locking plate (102), and also as a monitoring platform for the alignment status and insertion / retraction process of the tie rod pin (101).

2. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 1, characterized in that: It also includes a protective fence (5), which is fixed to the frame (2).

3. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 1, characterized in that: The walking mechanism (1) includes multiple drive wheel assemblies (10) symmetrically arranged at the bottom of the frame (2); Each drive wheel assembly (10) includes a walking drive device, a drive wheel (12), a steering drive device, a transmission gear (14), and a stationary gear (15). The walking drive device is connected to the drive wheel (12), the steering drive device is connected to the transmission gear (14), the transmission gear (14) meshes with the fixed gear (15), and the fixed gear (15) is fixedly connected to the frame (2). A magnetic sensor (17) is installed on the drive wheel (12) to cooperate with the navigation magnetic strip (18) set on the working surface.

4. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 3, characterized in that: The frame (2) includes a main frame (21) and a floating support frame (22), which is installed on one side of the bottom of the main frame (21); The main frame (21) includes a frame plate (211) and a sliding guide rail (212). The sliding guide rail (212) is symmetrically arranged on the frame plate (211) and is used to cooperate with the sliding platform (6). The floating support frame (22) is rotatably connected to the main frame (21), and a buffer (223) is provided between the floating support frame (22) and the main frame (21). Drive wheel assemblies (10) are symmetrically mounted on the main frame (21) and floating support frame (22).

5. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 3, characterized in that: The centering adjustment mechanism (3) includes an up-down adjustment component (31), a left-right adjustment component (32), a front-back buffer component (33), and a load-bearing fixing component (34). The load-bearing fixing component (34), the front and rear buffer component (33), the left and right adjustment component (32), and the up and down adjustment component (31) are assembled sequentially from top to bottom.

6. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 5, characterized in that: The up-down adjustment assembly (31) includes a symmetrically arranged lifting mechanism, which includes a lift drive device, a screw lift (312), and a screw (313). The lifting machine drive unit is connected to the screw lifting machine (312), the screw lifting machine (312) is connected to the screw (313), the lifting machine drive unit drives the screw lifting machine (312) to work so that the screw (313) moves up and down, the lifting machine drive unit and the screw lifting machine (312) are mounted on the frame (2), and one end of the screw (313) is connected to the left and right adjustment assembly (32); The left and right adjustment assembly (32) includes a left and right drive device, a drive screw (324), and a left and right adjustment support plate (323). The left and right drive devices are installed on the left and right adjustment bearing plate (323). The drive screw (324) is connected to the left and right drive devices. A moving block is provided on the drive screw (324). The left and right drive devices drive the drive screw (324) to rotate, so that the moving block moves on the drive screw (324). The moving block is connected to the front and rear buffer assembly (33). The front and rear buffer assembly (33) includes front and rear buffer bearing plates (335), slider two (331), guide rail two (332) and pin ring (334). Guide rail 2 (332) and pin ring (334) are mounted on front and rear buffer bearing plates (335), slider 2 (331) is slidably mounted on guide rail 2 (332), and slider 2 (331) is connected to bearing fixing component (34); buffer blocks (333) are provided at the front and rear ends of front and rear buffer bearing plates (335), and buffer blocks (333) are used to cooperate with the ends of bearing fixing component (34); The load-bearing fixing assembly (34) includes a load-bearing plate (341), a connecting arm (342), an electric piston (343), a fixed shaft (344), and an elastic element; The support plate (341) is used to install the fixed pin retraction mechanism (4); the fixed shaft (344) is fixedly installed on the support plate (341), and the connecting arm (342) is rotatably connected to the fixed shaft (344); an electric piston (343) is connected between the connecting arm (342) and the support plate (341), and the electric piston (343) is used to control the rotation of the connecting arm (342) to realize the connection and separation with the pull rod; the elastic element is fixedly connected to the support plate (341), and the elastic element is connected to the pin ring (334).

7. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 6, characterized in that: The pin threading and unthreading mechanism (4) includes a support frame (41), a floating support mechanism (42), a secondary pin threading cylinder (43), and a stroke detection device (44). The floating support mechanism (42), the secondary pin-driven cylinder (43), and the stroke detection device (44) are all installed on the support frame (41); The floating support mechanism (42) includes a V-shaped support roller (421) and a lifting cylinder (422). The lifting cylinder (422) is mounted on the support frame (41), and the V-shaped support roller (421) is connected to the top of the lifting cylinder (422). The V-shaped support roller (421) is used to support the tie rod pin. The piston rod of the secondary pin-driven cylinder (43) is supported on the connecting crossbeam (432), which is slidably mounted on the support frame (41). The end of the piston rod of the secondary pin-driven cylinder (43) is used to connect with the pull rod pin (101). A traction plate (441) is fixedly connected to the connecting crossbeam (432). The pull rope of the stroke detection device (44) is connected to the traction plate (441). The stroke detection device (44) is used to detect the extension or retraction length of the piston rod of the secondary pin-piercing cylinder (43).

8. The pin-threading trolley for the emergency gate pull rod in water conservancy projects according to claim 7, characterized in that, It also includes a hydraulic system (7), which is mounted on the frame (2). The hydraulic system (7) is connected to the secondary pin cylinder (43) and the lifting cylinder (422). The hydraulic system (7) is used to provide power to the secondary pin cylinder (43) and the lifting cylinder (422).

9. The pin-threading trolley for the emergency gate pull rod in a water conservancy project according to claim 7, characterized in that: It also includes an electronic control system (8), which is connected to the walking drive device, steering drive device, lifting drive device, left and right drive device, secondary through-pin cylinder (43), lifting cylinder (422), and electric piston (343) to control each actuator.

10. A method for inserting and removing pins using a pin-inserting trolley for a hydraulic engineering emergency gate pull rod as described in any one of claims 7-9, characterized in that: The specific steps of the pinning operation include: S1A: Move the pin-threading trolley to the gate opening; S2A: The pin-threading trolley travels along the navigation magnetic strip (18) set on the working surface and stops at the working position; S3A: Move the locking platform (9) to the gate opening, connect and lock the sliding platform (6) of the pin-threading trolley to the locking platform (9); S4A: The pin insertion and withdrawal mechanism (4) is raised or lowered to the working height by the centering adjustment mechanism (3) so that the height of the tie rod pin (101) matches that of the tie rod shaft hole; S5A: Hoist the tie rod pin (101) onto the pin insertion and retraction mechanism (4), and connect the tie rod pin (101) to the piston rod of the secondary pin insertion cylinder (43) of the pin insertion and retraction mechanism (4); S6A: Confirm that the tie rod pin (101) is aligned with the tie rod shaft hole; If not aligned, operate the alignment adjustment mechanism (3) to align the tie rod pin (101) with the tie rod shaft hole; If the match is successful, proceed to the next step; S7A: Adjust the connecting arm (342) to connect it with the pull rod, so that the pin-threading trolley is connected to the pull rod; S8A: The pin insertion action is started by the pin insertion and retraction mechanism (4), so that the piston rod of the secondary pin insertion cylinder (43) pushes the tie rod pin (101) to move toward the tie rod shaft hole; S9A: The extension length of the piston rod of the secondary pin-threading cylinder (43) is detected by the stroke detection device (44) to determine whether the pin-threading is completed; If not completed, the pin retraction mechanism (4) continues to operate until the stroke detection device (44) issues a stroke completion signal; If completed, proceed to the next step; S10A: Disconnect the piston rod of the secondary through-pin cylinder (43) from the tie rod pin (101), and install a pin locking plate (102) at the end of the tie rod pin (101). Adjust the connecting arm (342) to separate it from the pull rod; S11A: Disconnect the sliding platform (6) from the locking platform (9) and reset the sliding platform (6) and the locking platform (9) to their initial state; S12A: The pin-threading trolley moves along the navigation magnetic strip (18) and exits the gate opening; S13A: Pin insertion operation completed; The specific steps for handling returns and sales include: S1B: Move the pin-threading trolley to the gate opening where the pin has been threaded; S2B: The pin-threading trolley travels along the navigation magnetic strip (18) set on the working surface and stops at the working position; S3B: Move the locking platform (9) to the gate opening, connect and lock the sliding platform (6) of the pin-threading trolley to the locking platform (9); S4B: The pin threading and unthreading mechanism (4) is raised and lowered to the working height by the centering adjustment mechanism (3) so that the secondary pin threading cylinder (43) of the pin threading and unthreading mechanism (4) can match the height of the tie rod pin. S5B: Extend the piston rod of the secondary pin-threading cylinder (43) of the pin-threading mechanism (4) to the connection position with the tie rod pin (101); S6B: Confirm whether the piston rod of the secondary through-pin cylinder (43) is aligned with the tie rod pin (101); If not aligned, operate the alignment adjustment mechanism (3) to align the piston rod of the secondary through-pin cylinder (43) with the tie rod pin (101); If the match is successful, proceed to the next step; S7B: Connect the piston rod of the secondary through-pin cylinder (43) to the tie rod pin (101); Adjust the connecting arm (342) to connect it with the pull rod, thereby connecting the pin-feeding trolley with the pull rod; Remove the pin locking plate (102) on the tie rod pin (101); S8B: The pin retraction mechanism (4) starts the pin retraction action, causing the piston rod of the secondary pin cylinder (43) to pull the tie rod pin (101) out of the tie rod shaft hole; S9B: The retraction length of the piston rod of the secondary pin-piercing cylinder (43) is detected by the stroke detection device (44) to determine whether the pin retraction is completed; If not completed, the pin retraction mechanism (4) continues to operate until the stroke detection device (44) issues a stroke completion signal; If completed, proceed to the next step; S10B: Disconnect the piston rod of the secondary through-pin cylinder (43) from the tie rod pin (101); Adjust the connecting arm (342) to separate it from the pull rod; Hoist the tie rod pin (101) to the designated position; S11B: Disconnect the sliding platform (6) from the locking platform (9) and reset the sliding platform (6) and the locking platform (9) to their initial state; S12B: The pin-threading trolley moves along the navigation magnetic strip (18) and exits the gate opening; S13B: Return and cancellation process completed.

Images