Axial flow propeller unit blade bolt dismounting tool and control system

Abstract

The application provides an axial flow variable pitch unit blade bolt dismounting tool and a control system, wherein the axial flow variable pitch unit blade bolt dismounting tool comprises a hydraulic wrench for dismounting bolts, a sliding rail arranged on the axial flow variable pitch unit, and a balance table slidingly arranged on the sliding rail; the hydraulic wrench is slidingly arranged below the balance table; a pushing unit is arranged on one side of the balance table; the pushing unit is used for driving the hydraulic wrench to move along the length of the balance table; a linear driving unit is arranged on the sliding rail; the linear driving unit is used for driving the balance table to move along the length of the sliding rail; through cooperation of the linear driving unit and the pushing unit, automatic walking and positioning of the hydraulic wrench on the axial flow variable pitch unit are realized; single positioning time is shortened; the unit maintenance period is shortened; meanwhile, the dependence on a bridge machine is reduced; and the problem of tight bridge machine resources during maintenance of a large hydropower station is relieved.

Description

Technical Field

[0001] This invention relates to the field of axial-flow propeller turbine maintenance technology, and in particular to a tooling and control system for disassembling blade bolts of an axial-flow propeller turbine. Background Technology

[0002] During the overhaul of the Gezhouba axial-flow propeller turbine generator unit, the turbine blades and the turbine body are connected and fixed with high-strength, large-size M160 bolts. Due to the large number of bolts and the weight of each bolt being about 100 kilograms, their disassembly and installation is a relatively heavy and critical process in the overhaul of the unit.

[0003] Currently, the commonly used traditional method is to use bridge cranes for hoisting assistance, combined with manual operation of hydraulic wrenches to remove bolts. During maintenance, when multiple units are under maintenance in parallel or when power plant lifting equipment resources are scarce, bridge cranes need to serve the single process of bolt removal and installation for a long time and at a high frequency, performing hydraulic wrench hoisting, relocation, and bolt removal operations. This results in the occupation of bridge crane resources, making it impossible to carry out other tasks simultaneously. Due to the long waiting time for bridge crane scheduling, the entire bolt removal process takes a long time, extending the unit's shutdown and maintenance cycle.

[0004] Meanwhile, the hydraulic wrench is suspended by the bridge crane, and its positioning relies on the operator's visual inspection and experience. Fine adjustments are made by jogging the bridge crane and manually pushing it. To ensure that the hydraulic wrench is aligned with the socket on the bolt every time, this process is inefficient. Summary of the Invention

[0005] To address the problems mentioned in the background art, this invention provides a tooling and control system for disassembling blade bolts in an axial-flow propeller turbine. Through the coordinated control of a linear drive unit, a pushing unit, and a lifting mechanism, the hydraulic wrench is automatically driven along the blade bolts on the axial-flow propeller turbine. By cooperating with the control unit, the hydraulic wrench is automatically driven to the target bolt position, significantly shortening the overall maintenance period.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is: a tooling for disassembling blade bolts of an axial-flow propeller turbine, comprising a hydraulic wrench for disassembling bolts, a slide rail arranged on the axial-flow propeller turbine, and a balance platform slidably arranged on the slide rail. The hydraulic wrench is slidably disposed below the balance platform. A pushing unit is provided on one side of the balance platform. The pushing unit is used to drive the hydraulic wrench to move along the length of the balance platform to drive the hydraulic wrench to approach or move away from the bolt. A linear drive unit is provided on the slide rail. The linear drive unit is used to drive the balance platform to move along the length of the slide rail to drive the hydraulic wrench to switch different bolt positions.

[0007] Preferably, the slide rail includes a slide rail frame arranged on one side of the axial flow propeller unit. A rectangular sliding hole is provided on one side of the slide rail frame. Two sliders are slidably arranged inside the rectangular sliding hole. A through hole is opened inside the slider. A connecting rod is provided between the two sliders. Multiple fixing brackets are provided above the slide rail frame. The other end of the fixing bracket is connected to a reserved hole on the top of the axial flow propeller unit by bolts.

[0008] Preferably, the balance platform includes a mounting plate and a side plate disposed below the mounting plate. A track is provided at the bottom of the mounting plate, and a slider two slides on the track. A fixing plate is provided below the slider two. A fixing bracket two is bolted to the side of the fixing plate away from the side plate. A U-shaped groove adapted to the shape of the hydraulic wrench is opened at the bottom of the fixing bracket two. The hydraulic wrench is fixed inside the U-shaped groove by bolts. Two connecting brackets are arranged opposite each other on one side of the mounting plate, and the other end of the connecting bracket is inserted into the through hole of the slider.

[0009] Preferably, the pushing unit includes an electric push rod 1 disposed opposite to the side plate, and the piston rod of the electric push rod 1 is connected to the fixed plate.

[0010] Preferably, the linear drive unit includes a cavity formed inside the slide rail frame, a lead screw is rotatably arranged inside the cavity, two movable cylinders are threadedly connected to the lead screw, a transmission rod is provided at one end of the movable cylinder, a movable hole communicating with a rectangular sliding hole is opened on one side of the cavity, and one end of the transmission rod passes through the movable hole and is connected to the corresponding slider. The linear drive unit also includes a drive motor and a reducer mounted on the slide rail frame. The output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to one end of the lead screw.

[0011] Preferably, it also includes a lifting mechanism, which comprises an electric hoist and a three-axis hoisting unit connected to each other, and the three-axis hoisting unit is connected to the balance platform.

[0012] Preferably, the three-axis hoisting unit includes: A mounting plate connected to the electric hoist; Three hoisting cables are arranged in a ring at the bottom of the fixed plate; A balance node is set at the other end of the hoisting cable, and the balance node is connected to the top of the mounting plate.

[0013] Preferably, the balancing node includes: Two rotary dampers are mounted opposite each other on the mounting plate; A universal joint connected to the other end of the hoisting cable; A cross arm located at the other end of the universal joint; The fixed seats are set on both sides of the cross arm, and the output shaft of the rotary damper is connected to the corresponding fixed seat through a flange.

[0014] Preferably, it also includes a hoisting mechanism, which includes a base set above the rotor piston guide shaft of the axial propeller unit, a support column rotatably mounted on the base, a connecting arm hinged above the support column, the other end of the connecting arm being connected to an electric hoist, a retracting unit set at the top of the support column, the retracting unit being connected to the connecting arm for adjusting the tilt angle of the connecting arm, and a drive mechanism set on the base for driving the support column to rotate.

[0015] A blade bolt removal and control system for an axial-flow propeller unit includes a control unit for controlling the blade bolt removal tooling as described in any one of claims 1-9. The control unit includes: The human-computer interaction module is used to receive manual operation commands and display the system status; The storage module is used to store the reserved position information of the bolts and system parameters; The control module, which is electrically connected to the linear drive unit, the pushing unit, and the lifting mechanism, is used for logic operations and trajectory planning. A drive module, connected to the control module, is used to receive control commands and drive each drive motor and electric push rod to move. Position detection module, used to detect the position of the hydraulic wrench; The attitude detection module is used to monitor the balance status of the balancing platform; The alignment detection module is used to monitor the docking status between the hydraulic wrench and the socket. The communication module is used to realize remote monitoring, data interaction, or wireless control functions; The power supply module is used to provide 24V DC and isolated power to the various modules of the control unit and the electrical control part of the tooling.

[0016] This invention provides a tooling and control system for disassembling blade bolts in an axial-flow propeller turbine unit, with the following advantages: Through the cooperation of the linear drive unit and the push unit, the hydraulic wrench can automatically walk and position on the axial propeller unit, eliminating the need for frequent manual handling of the hydraulic wrench, which weighs tens of kilograms. This shortens the single positioning time and the maintenance period of the unit. At the same time, it reduces the dependence on bridge cranes and alleviates the problem of bridge crane resource shortage during the maintenance period of large hydropower stations.

[0017] The rigid frame consisting of double sliders and connecting rods provides two-point support for the balance platform, effectively dispersing the enormous reaction force generated during hydraulic wrench operation. The balance platform is rigidly connected to the slide rail via an insert-type connecting bracket, and locked in place by a mechanical pin of the locking mechanism, rigidly fixing the height of the balance platform. This ensures that the electric hoist is completely unloaded when outputting torque, effectively preventing equipment vibration or slippage caused by impact.

[0018] By placing the side plate in the middle of the bottom of the mounting plate, the travel distance of the hydraulic wrench along the length of the balance platform is shortened by about half, improving switching efficiency. The lifting mechanism uses the piston guide shaft of the swivel wheel as a natural base. Through the rotation of the support column and the luffing of the connecting arm, the hydraulic wrench can cover the annular working area of ​​the swivel wheel blade flange, avoiding the problem that the fixed lifting point cannot cover all bolts.

[0019] By setting up lifting ropes at the bottom of the connecting frame and reusing them as lifting fulcrums, immediate lifting and transportation after the bolts are loosened is achieved. The whole system reduces the dependence on bridge crane resources during the maintenance period, solves the problem of bridge crane resource shortage during the maintenance period of large hydropower stations, and can also retract the balance platform to the top of the unit through the retraction unit when storing, reducing space occupation. Attached Figure Description

[0020] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 3 This is a top view of the slide rail structure of the present invention; Figure 4 This is a top sectional view of the linear drive unit of the present invention; Figure 5 This is a front view of the connection structure between the balance platform, the pushing unit, and the hydraulic wrench of the present invention; Figure 6 For the present invention Figure 3 Right sectional view of the central locking mechanism; Figure 7 The figure shows a left view of the connection structure between the sling and the connecting frame in Figure 1 of this invention; Figure 8 This is a front view schematic diagram of the balance node structure of the present invention; Figure 9 This is a front sectional view of the connection structure between the support column and the convergence unit of the present invention; Figure 10 This is a schematic diagram of the connection structure between the slide rail and the axial flow propeller unit of the present invention; Figure 11 This is the system control diagram of the present invention.

[0021] In the diagram: 1. Hydraulic wrench; 2. Slide rail; 3. Balance platform; 4. Pushing unit; 5. Linear drive unit; 6. Lifting mechanism; 7. Hoisting mechanism; 8. Locking mechanism; 9. Control unit; 10. Lifting rope; 101. Shackle; 102. Hook; 21. Slide rail frame; 22. Rectangular sliding hole; 23. Slider; 24. Connecting rod; 25. Fixing frame; 31. Mounting plate; 32. Side plate; 33. Slider II; 34. Fixing plate; 35. Fixing frame II; 36. Connecting frame; 37. Rail; 41. Electric push rod I ; 51. Cavity; 52. Lead screw; 53. Moving cylinder; 54. Transmission rod; 61. Electric hoist; 62. Three-axis hoisting unit; 71. Base; 72. Support column; 73. Connecting arm; 74. Heading unit; 75. Drive mechanism; 81. Electric push rod three; 82. Positioning plate; 83. Straight ladder; 621. Fixed plate; 622. Hoisting cable; 623. Balance node; 6231. Rotary damper; 6232. Universal joint; 6233. Cross arm; 6234. Fixed seat; 731. Fixed end. Detailed Implementation

[0022] like Figure 1-2 As shown, a tooling for removing bolts from blades of an axial-flow propeller turbine includes a hydraulic wrench 1 for removing bolts, a slide rail 2 arranged on the axial-flow propeller turbine, and a balance platform 3 slidably arranged on the slide rail 2. The hydraulic wrench 1 is slidably positioned below the balance platform 3. A pushing unit 4 is provided on one side of the balance platform 3. The pushing unit 4 is used to drive the hydraulic wrench 1 to move along the length of the balance platform 3 to move the hydraulic wrench 1 closer to or away from the bolt. A linear drive unit 5 is provided on the slide rail 2. The linear drive unit 5 is used to drive the balance platform 3 to move along the length of the slide rail 2 to drive the hydraulic wrench 1 to switch different bolt positions.

[0023] In addition, the hydraulic wrench 1 works in conjunction with an external hydraulic pump station. Specifically, the hydraulic pump station is connected to a solenoid valve assembly, and the hydraulic wrench 1 is connected to the solenoid valve assembly through a hydraulic oil pipe.

[0024] In actual operation, the linear drive unit 5 is activated, driving the balance table 3 to move horizontally along the X-axis of the slide rail 2, delivering the hydraulic wrench 1 to the position directly in front of the target bolt. The push unit 4 is activated, driving the hydraulic wrench 1 to move horizontally along the Y-axis of the balance table 3, so that the hydraulic wrench is inserted into the sleeve on the bolt head to complete the alignment. Subsequently, the hydraulic pump station controls the on / off of the high-pressure oil circuit through the solenoid valve group, driving the hydraulic wrench 1 to output the preset torque to perform the stretching or loosening operation on the bolt.

[0025] Through the cooperation of the linear drive unit 5 and the push unit 4, the hydraulic wrench can automatically walk and accurately position on the axial propeller unit, eliminating the need for frequent manual handling of the hydraulic wrench, which weighs tens of kilograms. This shortens the single positioning time and the maintenance period of the unit. At the same time, it reduces the dependence on bridge cranes and alleviates the problem of bridge crane resource shortage during the maintenance period of large hydropower stations.

[0026] The guide structure formed by the slide rail 2 and the balance platform 3 ensures the alignment accuracy between the hydraulic wrench and the bolt, avoiding damage to the bolt surface caused by off-center loading.

[0027] See Figure 3 and Figure 4 In one embodiment, the slide rail 2 includes a slide rail frame 21 arranged on one side of the axial flow propeller unit. A rectangular sliding hole 22 is provided on one side of the slide rail frame 21. Two sliders 23 are slidably arranged inside the rectangular sliding hole 22. A through hole is opened inside the slider 23. A connecting rod 24 is provided between the two sliders 23. A plurality of fixing brackets 25 are provided above the slide rail frame 21. The fixing brackets 25 are L-shaped. The other end of the fixing brackets 25 is connected to a reserved hole on the top of the axial flow propeller unit by bolts.

[0028] The rigid frame structure formed by the double slider 23 and the connecting rod 24 provides two-point support for the balance platform 3, effectively dispersing the huge reaction force generated by the hydraulic wrench 1 during operation and preventing swaying or jamming caused by single-point force.

[0029] See Figure 1 and Figure 10 Additionally, it should be noted that, in order to facilitate the installation of the housing of the axial-flow propeller unit, multiple mounting holes are reserved on the top of the axial-flow propeller unit, and the mounting bracket 25 is fixed through these reserved mounting holes.

[0030] Axial propeller turbine units, in particular, have pre-reserved functional interfaces during manufacturing. When installing the unit's outer casing, threaded holes or through holes are usually reserved on the top or side wall for fixing the casing.

[0031] By directly utilizing the existing pre-reserved mounting holes through the L-shaped fixing bracket 25, the slide rail bracket 21 is anchored to the main structure of the unit. This is equivalent to installing the tooling as a temporary accessory of the unit, rather than adding a destructive structure to the main structure of the unit. This avoids on-site welding or drilling on key load-bearing components such as the cylinder wall or blade flange of the axial propeller unit, eliminating the risk of thermal stress deformation and material damage to the main structure of the unit caused by the installation of the tooling, and meeting the high standard requirement of zero damage during hydropower station maintenance.

[0032] like Figure 4As shown, further, a slide rail is provided on one side of the rectangular slide hole 22 of the slide rail frame 21, and a fixing plate 2 is arranged in sequence on the side of the slider 23 near the slide rail. Multiple rotatable rollers are provided on the fixing plate 2, and the rollers slide in cooperation with the slide rail.

[0033] A slide rail is opened on the side wall of the rectangular slide hole 22 of the slide rail frame 21 to serve as the running track for the rollers. The slider 23 is equipped with multiple rollers through the fixing plate 2, so that the outer edge of the rollers contacts the inner wall of the slide rail.

[0034] When the linear drive unit 5 drives the connecting rod 24 to move the slider 23, the contact mode between the slider and the slide rail frame 21 changes from surface contact sliding to line contact rolling. The roller rolls forward in the slide rail, thereby driving the balance table 3 to translate.

[0035] Since the rolling friction coefficient is much smaller than the sliding friction coefficient, the load on the linear drive unit 5 is reduced, making it easier to operate.

[0036] like Figure 1 and Figure 5 As shown, in one embodiment, the balance platform 3 includes a mounting plate 31 and a side plate 32 disposed below the mounting plate 31. A track 37 is provided at the bottom of the mounting plate 31, and a slider 23 slides on the track 37. A fixing plate 34 is provided below the slider 23. A fixing bracket 25 is bolted to the side of the fixing plate 34 away from the side plate 32. The bottom of the fixing bracket 25 has a U-shaped groove adapted to the shape of the hydraulic wrench 1. The hydraulic wrench 1 is fixed inside the U-shaped groove by bolts. Two connecting brackets 36 are arranged opposite each other on one side of the mounting plate 31. The other end of the connecting bracket 36 is inserted into the through hole of the slider 23.

[0037] The balance platform 3 is inserted into the through hole of the slider 23 of the slide rail 2 through the connecting brackets 36 on both sides. The connecting brackets 36 are usually high-strength alloy steel forgings. The connecting brackets 36 act as cantilever beams to transfer the weight of the entire balance platform 3 and hydraulic wrench 1 to the slide rail frame 21, and allow the balance platform 3 to move along the slide rail 2 with the slider 23.

[0038] The bottom rail 37 of the mounting plate 31 cooperates with the slider 33. The rail 37 is a heavy-duty linear guide. The pushing unit 4 drives the slider 33 to slide along the rail 37, which in turn moves the fixing plate 34, the fixing bracket 35 and the hydraulic wrench 1 below as a whole. When the hydraulic wrench needs to be put into the socket on the bolt, the pushing unit pushes it out. After disassembly, it is retracted.

[0039] The hydraulic wrench 1 is embedded in the U-shaped groove at the bottom of the fixing bracket 2 35. The width of the U-shaped groove is customized according to the wrench model. For example, for a hydraulic wrench with a 90 square drive and a torque of 30000Nm, the groove width is about 110mm. It is locked with bolts. The U-shaped groove structure restricts the circumferential rotation of the wrench, ensuring that the reaction force is fully borne by the fixing bracket 2 35, rather than by the oil pipe pulling.

[0040] The connecting frame 36 adopts an insert connection, which has a larger bending section modulus than simple lug or pin connection, effectively resisting the overturning moment generated during hydraulic wrench operation and reducing the torsion of the balance table on the slide rail.

[0041] The cooperation between track 37 and slider 33 ensures the straightness of hydraulic wrench 1 during radial movement, enabling it to accurately align with the bolt axis and avoid damage to the sleeve or bolt surface due to misalignment.

[0042] The U-shaped groove and bolt connection of the fixed frame 235 allow for quick replacement of the hydraulic wrench 1 or maintenance without disassembling the entire balance table, thus improving maintenance efficiency.

[0043] The frame structure formed by the mounting plate 31 and the side plate 32 provides a sufficiently rigid platform, suppressing the vibration generated when the hydraulic wrench is instantly loaded, and ensuring the stability of operation.

[0044] See Figure 1 and Figure 5 In addition, to improve efficiency, the side plate 32 is located in the middle of the bottom of the mounting plate 31, thereby reducing the stroke of the hydraulic wrench 1 along the length of the balance platform 3.

[0045] The side plate 32 is no longer located at the end of the mounting plate 31, but is located in the middle of the bottom of the mounting plate 31. The side plate is made of Q345B steel plate. The hydraulic wrench 1 is mounted on the slider 33 via the fixing bracket 35. Because the side plate 32 is centered, the distance the hydraulic wrench 1 travels from its initial position near the side plate 32 to its furthest working position at the end of the mounting plate is shortened to half the length of the mounting plate 31, effectively halving the travel distance of the hydraulic wrench 1 along the length of the balance platform 3. This reduces the extension and retraction time of the pushing unit 4 when switching blade bolts or adjusting the alignment position, thus reducing the auxiliary time for disassembling a single bolt.

[0046] The side plate 32 is located in the middle of the bottom of the mounting plate 31, so that the suspension point of the connecting frame 36 is located near the center of mass of the balance platform 3. This symmetrical or nearly symmetrical suspension method effectively balances the off-center load torque generated when the hydraulic wrench 1 moves at both ends of the track, making the operation more stable.

[0047] See Figure 1 and Figure 7Furthermore, in this embodiment, at least one bottom side of the connecting frame 36 is provided with a lifting rope 10, and the other end of the lifting rope 10 is provided with a shackle 101. A hook 102 is provided on one side of the bottom of the connecting frame 36. The hook is L-shaped, and the shackle 101 cooperates with the hook 102. A through hole is opened at the bottom of the connecting frame 36. One end of the lifting rope 10 passes through the through hole and extends to the other side. One end of the lifting rope 10 is provided with a pressing joint. One end of the lifting rope 10 is fixed to one side of the bottom of the connecting frame 36 by multiple U-shaped clamps. An anti-slip pad is provided on the inner side of the U-shaped clamps. When it is necessary to lift the bolt and transfer it using an external equipment trolley, the end of the lifting rope 10 with the shackle 101 is passed through the bolt and finally cooperates with the hook to lift the bolt.

[0048] During normal bolt removal operations, the lifting rope 10 is in a retracted state, and the shackle 101 is hooked on the L-shaped hook 102 at the bottom of the connecting frame 36 to prevent the lifting rope from swaying and interfering with the operation of the hydraulic wrench.

[0049] After the hydraulic wrench 1 loosens the bolt, the operator removes the shackle 101 from the hook 102, passes the end of the lifting rope 10 with the shackle 101 through the threaded end or bolt hole of the bolt, and then fastens the shackle 101 onto the hook 102 to form a closed loop. The lifting mechanism 7 then lifts the bolt onto an external trolley for transport and maintenance without the need to find additional lifting points or use other lifting tools.

[0050] By reusing the load-bearing structural component 36 as a lifting fulcrum, there is no need to carry or find separate lifting tools in the narrow maintenance space of the axial propeller unit. The U-shaped clamp is M16, and the anti-slip pad is made of industrial-grade neoprene rubber or nylon-6. The combination of the U-shaped clamp and the anti-slip pad ensures that the lifting rope 10 will not slip or wear on the connecting frame 36 when bearing the weight of the bolt. The pressed joint is an aluminum alloy pressed sleeve to ensure the rope end strength. The L-shaped hook 102 has an anti-disengagement design to prevent the shackle from accidentally falling off during equipment movement. The lifting rope 10 is a φ10mm synthetic fiber lifting sling, selected as a 1-ton sling with a safety factor of 10 times, meeting the lifting requirements of 100kg bolts. The shackle 101 is a 1-ton bow-shaped shackle matched with the 1t sling, used to connect the sling to the bolt.

[0051] like Figure 5 As shown, in one embodiment, the pushing unit 4 includes an electric push rod 41 disposed opposite to the side plate 32, the piston rod of the electric push rod 41 being connected to the fixing plate 34. A through hole is provided on the side plate 32 for mounting the electric push rod 41.

[0052] A through hole is provided on the side plate 32 for mounting the cylinder body of the electric push rod 41. The electric push rod 41 is a heavy-duty self-locking electric push rod, model DTZ-500, with a thrust of 5000N and a stroke set according to the width of the blade flange, usually 400-600mm. Its cylinder body is fixed to both sides of the through hole of the side plate 32 by flange or trunnion. The piston rod end of the electric push rod 41 is connected to the fixed plate 34 by pin or ball joint.

[0053] When the electric push rod 41 is energized and extends, the piston rod pushes the fixed plate 34 and the fixed bracket 35 below it, as well as the hydraulic wrench 1, to slide outward along the track 37, so that the hydraulic wrench 1 can be inserted into the socket and fitted onto the bolt. When the electric push rod 41 retracts, it pulls the hydraulic wrench 1 back and disengages from the bolt, making room for the balance platform 3 to move circumferentially along the slide rail 2.

[0054] The fulcrum of the entire pushing action is provided by the connecting frame 36, which is inserted into the through hole of the slide rail slider 23 to suspend the balance platform 3 on the slide rail 2 and bear the reaction force generated when the hydraulic wrench is in operation.

[0055] Using an electric push rod as the power source, compared to pure manual or hydraulic cylinder drive, it has a position feedback function. By controlling the extension distance of the hydraulic wrench 1, it ensures that the hydraulic wrench 1 is accurately aligned with the socket fitted on the bolt.

[0056] like Figure 4 As shown, in one embodiment, the linear drive unit 5 includes a cavity 51 formed inside the slide rail frame 21. The cavity 51 is located on the side of the slide rail frame 21 near the axial flow propeller unit. A lead screw 52 is rotatably arranged inside the cavity 51. Two movable cylinders 53 are threadedly connected to the lead screw 52. A transmission rod 54 is provided at one end of each movable cylinder 53. A movable hole communicating with a rectangular sliding hole 22 is opened on one side of the cavity 51. One end of the transmission rod 54 passes through the movable hole and is connected to the corresponding slider 23. The linear drive unit 5 also includes a drive motor and a reducer arranged on the slide rail frame 21. The output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to one end of the lead screw 52.

[0057] Once the drive motor starts, the speed is reduced and the torque is increased by the reducer, and then output to the lead screw 52. The lead screw 52 rotates in the cavity 51. When the lead screw 52 rotates forward, the two moving cylinders 53 move in the same direction on the lead screw 52; when it rotates in reverse, the direction of movement is opposite.

[0058] Among them, reducer one is a planetary reducer with a reduction ratio of i=10-20 and model PLF60; lead screw 52 is a T-type lead screw; drive motor one is a servo motor with a power of 0.75-1.5kW and model 80ST-M02430.

[0059] The moving cylinder 53 transmits linear motion to the slider 23 through the moving hole via the transmission rod 54. The slider 23 drives the connecting frame 36 and the entire balance platform 3 to move synchronously on the slide rail 2.

[0060] By controlling the direction and number of revolutions of the drive motor, the movement position of the two sliders 23 is controlled, thereby positioning the hydraulic wrench 1 on the corresponding bolt.

[0061] See Figure 1 In one embodiment, the system further includes a lifting mechanism 6, which comprises an electric hoist 61 and a three-axis hoisting unit 62 connected to each other, the three-axis hoisting unit 62 being connected to the balance platform 3.

[0062] When the electric hoist 61 starts lifting, the three-axis hoisting unit 62 pulls the balance platform 3 up as a whole. Since the balance platform 3 is connected to the slider 23 of the slide rail 2 through the connecting frame 36, the lifting action will drive the connecting frame 36 to rise synchronously in the slider 23, thereby lifting the hydraulic wrench 1 from the working position to a suitable height to accommodate the disassembly of bolts at different heights.

[0063] See Figure 5 Furthermore, the three-axis hoisting unit 62 includes: a fixed plate 621 connected to the electric hoist 61; three hoisting cables 622 arranged in a ring at the bottom of the fixed plate 621; and a balance node 623 arranged at the other end of the hoisting cables 622, the balance node 623 being connected to the top of the mounting plate 31.

[0064] Specifically, the electric hoist 61 includes a housing, on which a second drive motor and a second reducer are mounted. Inside the housing, a horizontally arranged reel is rotatably mounted, and a first cable is wound around the reel. A cable release hole is provided at the bottom of the housing. One end of the first cable is fixed to the reel, and the other end passes through the cable release hole and is connected to the fixed plate 621. The output shaft of the second drive motor is connected to the input shaft of the second reducer, and the output shaft of the second reducer is connected to either end of the reel.

[0065] When the second drive motor is powered on, it outputs high-speed rotational power. The power is transmitted to the second reducer through the coupling. The second reducer converts the high speed and low torque of the second drive motor into a low speed and high torque output. The output shaft of the second reducer directly drives the reel to rotate, and the first cable wound on the reel is wound or released accordingly.

[0066] The cable passes through the cable release hole at the bottom of the housing and the end is connected to the fixed plate 621 below via a shackle. When the cable is tightened, the tension is transmitted to the balance node 623 through the fixed plate 621 and the hoisting cable 622, which finally pulls the mounting plate 31 and the entire balance platform 3 to rise. The balance platform 3 is connected to the slider 23 through the connecting bracket 36, thereby driving the hydraulic wrench 1 to be vertically lifted along the slide rail frame 21.

[0067] The second drive motor is a 130ST-M10030 servo motor, the second reducer is a PLF090 planetary reducer, and the first cable is a 6×19S+FC steel wire rope with a breaking strength ≥44kN.

[0068] like Figure 8 As shown, in one embodiment, the balance node 623 includes: two rotary dampers 6231 disposed opposite to each other on the mounting plate 31; a universal joint 6232 connected to the other end of the hoisting cable 622; a cross arm 6233 disposed at the other end of the universal joint 6232; and fixed seats 6234 disposed on both sides of the cross arm 6233, wherein the output shaft of the rotary damper 6231 is connected to the corresponding fixed seat 6234 via a flange.

[0069] The mounting plate 31 is also provided with a limiting block located below the cross arm 6233, which is used to limit the rotation angle of the rotary damper 6231.

[0070] The electric hoist 61 pulls the universal joint 6232 via the hoisting cable 622. The universal joint 6232 is model SWC-I-100 with a rated torque of 1000Nm. The universal joint transmits the vertical tension to the cross arm 6233. The cross arm 6233 is connected to the output shaft of the rotary damper 6231 via the fixed seats 6234 on both sides. The rotary damper 6231 is model RDC-30 with a torque of 30Nm.

[0071] When the center of gravity of the balance platform 3 shifts due to the movement of the hydraulic wrench 1, the mounting plate 31 will tend to tilt. At this time, the cross arm 6233 is subjected to an eccentric torque, which drives the rotor of the rotary damper 6231 to rotate slowly. The silicone oil or magnetorheological fluid inside the damper generates resistance and absorbs the impact energy, making the tilting action of the mounting plate 31 slow and controllable, rather than flipping over instantly.

[0072] The limit block is located below the cross arm 6233. When the rotation angle of the rotation damper 6231 reaches the preset limit, the cross arm 6233 will abut against the limit block to prevent further rotation and prevent the hoisting cable 622 from getting tangled or the equipment from overturning due to excessive tilting.

[0073] The viscous damping force provided by the rotary damper 6231 can effectively suppress the swaying of the hoisting cable 622 during lifting or lowering, so that the hydraulic wrench 1 remains stable when it moves to the designated position of the connecting frame 36, that is, the corresponding bolt position on the axial propeller unit, thus improving the hole accuracy.

[0074] When the hydraulic wrench 1 applies a huge torque to disassemble the bolt, the reaction force will be transmitted to the balance node 623 through the mounting plate 31. The damper can absorb this instantaneous impact and prevent the rigid impact from being directly transmitted to the reel structure of the electric hoist 61, thus protecting the transmission system.

[0075] See Figure 1 In one embodiment, the system further includes a hoisting mechanism 7, which includes a base 71 disposed above the rotor piston guide shaft of the axial propeller unit. A support column 72 is rotatably disposed on the base 71. A connecting arm 73 is hinged above the support column 72. The other end of the connecting arm 73 is connected to an electric hoist 61. A retracting unit 74 is disposed at the top of the support column 72. The retracting unit 74 is connected to the connecting arm 73 for adjusting the tilt angle of the connecting arm 73. A driving mechanism 75 is disposed on the base 71 for driving the support column 72 to rotate.

[0076] The base 71 is fixed above the rotor piston guide shaft of the axial flow propeller unit by bolts. The drive mechanism 75 is started, and the drive column 72 rotates in the bearing seat of the base 71 to achieve 360° rotation in the horizontal plane.

[0077] When the retracting unit 74 is activated, it pulls the connecting arm 73. The connecting arm 73 rotates around its hinge point with the top of the support column 72, changing its tilt angle, thereby adjusting the radial position of the electric hoist 61 in the axial propeller unit.

[0078] The electric hoist 61 transmits the lifting force to the support column 72 and the base 71 through the connecting arm 73. The electric hoist 61 lifts the balance platform 3, so that the hydraulic wrench 1 can cover the annular working area of ​​the wheel blade bolts as the lifting mechanism 7 rotates and changes amplitude. After use, the balance platform 3 can be retracted to reduce space occupation.

[0079] By rotating the support column 72 and varying the amplitude of the connecting arm 73, the lifting point of the electric hoist 61 can move within a wide range within the axial-flow propeller unit, solving the problem that the fixed lifting point cannot cover all the blade bolts.

[0080] The base 71 is directly fixed to the extremely rigid rotary piston guide shaft, avoiding the risk of swaying caused by using temporary scaffolding or suspension points, and is fixed by reserved bolt holes, making operation more convenient.

[0081] The articulated design of the connecting arm 73 allows it to be retracted when not in operation, reducing its footprint and facilitating installation and removal above the axial-flow propeller unit.

[0082] like Figure 1 As shown, the base 71 is cylindrical and has a chamber at the bottom for accommodating the rotary piston guide shaft.

[0083] A support platform is provided on the base 71. The support platform is hollow inside. An extension hole for accommodating the support column 72 is opened on the top of the base 71. A bearing is installed inside the extension hole. The bottom end of the support column 72 passes through the support platform and the extension hole in sequence and extends into the cavity. The support column 72 is connected to the inner side of the bearing. A limit plate is provided at the bottom of the support column 72.

[0084] The base 71 is cylindrical, and the bottom chamber is directly fitted onto the rotor piston guide shaft of the axial flow propeller unit. The guide shaft itself serves as a rigid support foundation, avoiding the need to drill holes or weld temporary supports on the top of the axial flow propeller unit.

[0085] The bottom end of the support column 72 passes through the extension hole inside the support platform and is connected to the base 71 through a bearing, which is a thrust self-aligning roller bearing.

[0086] When the drive mechanism 75 drives the support column 72 to rotate, the bearing bears the axial load, the weight of the electric hoist 61 and the balance platform 3, and the radial load comes from the bending moment of the connecting arm 73, ensuring smooth rotation without jamming.

[0087] The limiting disc at the bottom of the support column 72 is locked in the cavity and cooperates with the inner ring of the bearing to prevent the support column 72 from coming out of the base 71 due to the tensile force when lifting heavy objects, thus forming a reliable axial constraint.

[0088] By using the rotor piston guide shaft as a natural base, there is no need to drill holes in the axial propeller unit, which enables plug-and-play quick installation, protects the integrity of the unit's structure, and shortens the maintenance preparation time.

[0089] like Figure 2 As shown, further, a disc is provided on the support column 72 that abuts against the top of the support platform, a hinge seat is provided above the disc, one end of the connecting arm 73 is hinged to the hinge seat, and the other end of the connecting arm 73 is provided with a fixed end 731, which is connected to the electric hoist 61.

[0090] The disc is mounted on the support column 72 and abuts against the top of the support platform. The disc distributes the vertical load transmitted from the connecting arm 73 to the support platform, reducing the axial pressure on the bearing. The hinge seat is welded above the disc and hinged to the connecting arm 73 via a pin. The direct contact between the disc and the support platform transmits most of the static and impact loads through a rigid contact surface, preventing the bearing from being under full load for extended periods, extending the bearing's service life, and improving the long-term reliability of the lifting mechanism 7.

[0091] The connecting arm 73 rotates around the hinge point, and its other end fixed end 731 is rigidly connected to the outer shell of the electric hoist 61 by bolts and connecting rods.

[0092] like Figure 1 As shown, the connecting arm 73 can be an electric push rod 2. The bottom end of the electric push rod 2 is hinged to the hinge seat, and the piston rod of the electric push rod is connected to the fixed end 731. By retracting the electric push rod 2, the length of the connecting arm 73 can be reduced when the device is stored, thus reducing the space occupied.

[0093] The bottom end of the electric push rod 2 is connected to the hinge seat at the top of the support column 72 via a pin, and the top end of its piston rod is connected to the electric hoist 61 via a fixed end 731. The electric push rod 2 is model DTZ-500 with a rated thrust of 5kN.

[0094] During normal operation, the electric push rod 2 is in the extended state, providing support as a rigid arm. When it is necessary to store the equipment, the electric push rod 2 is controlled to retract, the piston rod retracts into the cylinder, and the electric hoist 61 moves closer to the axis of the support column 72, thereby significantly shortening the radial extension length of the connecting arm 73.

[0095] When the electric hoist 61 lifts the balance platform 3, the pulling force is transmitted to the piston rod of the electric push rod 2 through the fixed end 731. The electric push rod 2 is a solid rod with high compressive and bending stiffness. The balance platform 3 is connected to the slider 23 through the connecting frame 36. In the retracted state, as the connecting arm 73 shortens, the balance platform 3 is pulled up above the axial propeller unit.

[0096] See Figure 1 and Figure 9 Furthermore, the winding unit 74 includes a mounting plate disposed at the top of the base 71, a housing second disposed above the mounting plate, a vertically arranged drum rotatably disposed inside the housing second, a cable second wound around the drum second, a drive motor third and a reducer third disposed above the housing second, the output shaft of the drive motor being connected to the input shaft of the reducer, the input shaft of the reducer being connected to the top of the drum, a through hole being opened on one side of the housing, one end of the cable second passing through the through hole and being connected to the fixed end 731, a U-shaped fixing seat being disposed on the side of the mounting plate near the through hole, a guide wheel being rotatably disposed inside the U-shaped fixing seat, the guide wheel being used to guide the cable second to wind up.

[0097] Drive motor three starts and transmits power to drum two through reducer three. Drum two rotates, winding or releasing cable two, thereby generating traction force. Cable two passes through the through hole, goes around the guide wheel, and finally connects to the fixed end 731. Drive motor three is a servo motor, model 100ST-M04030, and reducer three is a PL60 planetary reducer with a reduction ratio of i=40 and a rated output torque ≥400N·m.

[0098] When the second drum winds up the second cable, the tension acts on the far end of the connecting arm 73, overcoming the gravitational torque of the electric hoist 61 and the balance platform 3, causing the connecting arm 73 to lift upward around the hinge seat; conversely, releasing the second cable causes the connecting arm 73 to swing downward under the action of gravity.

[0099] The change in the angle of the connecting arm 73 directly alters the radial position of the lifting point of the electric hoist 61. As the lifting point moves, the balance platform 3 is pulled to different bolt hole positions on the impeller blade flange by the hydraulic wrench 1.

[0100] See Figure 2Specifically, the drive mechanism 75 includes a drive motor 4 and a reducer 4 mounted on the base 71. The output shaft of the drive motor 4 is connected to the input shaft of the reducer. Gears are mounted on both the output shaft of the reducer 4 and the support column 72, and the two gears mesh with each other.

[0101] When the drive motor 4 starts, it outputs high-speed, low-torque rotation. The power is transmitted to the reducer 4 through the coupling. After reduction and torque amplification, the output shaft of the reducer 4 drives the gear drive wheel on it to rotate. This gear meshes with the gear driven wheel fixed on the support column 72. Through the meshing of the gear pair, the horizontal rotational motion output by the reducer 4 is converted into the circumferential rotational motion of the support column 72 around its axis.

[0102] Among them, drive motor four is a servo motor, model 80ST-M02430, with a power of 0.75kW, and reducer four is a PLF60 planetary reducer with a reduction ratio of i=20.

[0103] The rotation of the support column 72 causes the connecting arm 73, the electric hoist 61 and the balance platform 3 to move in a circular motion around the central axis of the wheel, which allows the hydraulic wrench 1 to cover the bolt holes at different angles on the wheel blade flange.

[0104] Meanwhile, to facilitate the removal of the bolts on the other side, simply install the slide rail 2 on the other side and fix the slide rail 2 to the corresponding reserved bolt holes on the top of the axial propeller unit.

[0105] See Figure 2 In one embodiment, the output shaft of the reducer four extends into the cavity of the base 71, both gears are inside the cavity and mesh with each other, and a partition located above the guide shaft of the rotary piston is fixed inside the cavity by bolts.

[0106] After the drive motor four starts, it undergoes a first-stage reduction and torque increase through the reducer four. The output shaft of the reducer four extends directly into the cavity of the base 71. A gear is fixed at the end of the output shaft. This gear meshes with the gear fixed at the bottom of the support column 72 inside the cavity. When the drive gear rotates, it drives the driven gear and the support column 72 to rotate horizontally relative to the base 71 through gear meshing transmission, thereby driving the balance platform 3 and the connecting frame 36 above to adjust their azimuth angle.

[0107] To ensure the stability of the gear transmission inside the chamber and to prevent lubricating oil from splashing, a partition is bolted inside the chamber. This partition is located above the guide shaft of the rotary piston and serves as a sealing cover for the gearbox.

[0108] The two meshing gears are completely embedded inside the cavity of the base 71, using the base body as the gearbox, which reduces the length of the external transmission chain and makes the overall structure compact. The cavity structure effectively isolates water vapor, oil and dust at the turbine maintenance site, protects the gear transmission pair, and extends its service life.

[0109] See Figure 4 and Figure 6 It should be noted that this embodiment also includes a locking mechanism 8 set on the connecting rod 24. The locking mechanism 8 includes an electric push rod 81 set on the connecting rod 24. A positioning plate 82 is set on the piston rod of the electric push rod 81. A straight ladder 83 is set on the side of each of the two connecting frames 36 near the connecting rod 24. The straight ladder 83 is formed by splicing multiple partitions distributed along the length of the connecting frame 36. There is a gap between two adjacent partitions that is adapted to the positioning plate 82. The positioning plate 82 and the adjacent end of the partition are both tapered. The electric push rod 81 moves the positioning plate 82 to insert into the middle of the corresponding gap, thereby limiting the connecting frame 36 and locking the height of the balance platform 3.

[0110] When the electric hoist 62 drives the balance platform 3 to rise and fall, the electric push rod 3 81 starts, the piston rod of the electric push rod 3 extends, and pushes the positioning plate 82 at its end to move towards the connecting frame 36. The end of the positioning plate 82 and the end of the partition of the straight ladder 83 are both conical, with a cone angle of 30°-45°.

[0111] When the positioning plate 82 approaches the gap between the partitions, the conical surface contacts first, generating a radial force. This automatically corrects the deviation between the positioning plate 82 and the center position of the gap, guiding the positioning plate 82 to slide smoothly into the gap between two adjacent partitions. After the positioning plate 82 is fully inserted into the gap, its two side planes fit tightly against the side walls of the partitions. The insertion of the positioning plate 82 is equivalent to adding a rigid support point to the connecting frame 36 in the vertical direction, thus achieving mechanical locking of the height of the balance platform 3.

[0112] When the hydraulic wrench 1 is used to install or remove bolts, it generates a huge reaction torque and impact force. The motor brake or servo holding torque alone is not enough to completely suppress the micro-movement. The locking mechanism 8 locks the connecting frame 36 with a mechanical pin, providing a physical hard limit, which effectively prevents the balance table 3 from shaking or slipping due to the impact, and greatly improves the safety of operation.

[0113] The tapered shape of the positioning plate 82 and the end of the partition plate allows for an installation error or centering deviation of ±2mm when the electric push rod 81 extends. The system can automatically guide and complete the insertion, improving the reliability of locking.

[0114] The electric linear actuator 381 has a model number of DTZ-500, a thrust of 5000N, a voltage of DC24V / AC220V, and a built-in limit switch.

[0115] The positioning plate 82 is made of 45# steel, with surface hardening treatment, thickness: 20-25mm, and is adapted to the gap width. The conical end angle is 30°, and the hardness is HRC40-45.

[0116] The partition material of the straight ladder 83 is Q345, the partition spacing, that is, the gap width is 25-30mm, slightly larger than the thickness of the positioning plate, leaving room for movement, and the partition thickness is 15-20mm, distributed along the length of the connecting frame 36.

[0117] See Figure 11 A blade bolt removal control system for an axial-flow propeller turbine includes a control unit 9, which controls the blade bolt removal tooling as described in any one of claims 1-9. Control unit 9 includes: The human-computer interaction module is used to receive manual operation commands and display the system status; The storage module is used to store the reserved position information of the bolts and system parameters; The control module is electrically connected to the linear drive unit 5, the pushing unit 4, the lifting mechanism 6 and the locking mechanism 8 respectively, and is used for logic operations and trajectory planning; A drive module, connected to the control module, is used to receive control commands and drive each drive motor and electric push rod to move. The position detection module is used to detect the position of hydraulic wrench 1; The attitude detection module is used to monitor the balance state of the balance platform 3; The alignment detection module is used to monitor the docking status between the hydraulic wrench 1 and the socket; The communication module is used to realize remote monitoring, data interaction, or wireless control functions; The power supply module is used to provide 24V DC and isolated power to the various modules of the control unit 9 and the electrical control part of the tooling.

[0118] In this implementation scheme, the control module is a PLC controller, and the control module, power module, storage module and drive module are all installed in a waterproof control box.

[0119] The power module includes: a main power input interface for connecting to an AC 380V or AC 220V industrial power supply at the hydropower station maintenance site; The switching power supply converts the input AC power into DC 24V power to supply the PLC controller, limit switches, tilt sensors, solenoid valve groups, and controllers for each electric actuator. Isolation transformers are used to provide AC 220V isolated power to the control circuits of each servo drive, preventing strong electrical interference from causing abnormal control signals. In addition, some high-power servo motors may require independent power supply modules.

[0120] The storage module includes the PLC's internal memory, which stores real-time parameters, current coordinates, and key preset values ​​during system operation; and an external memory card, which stores the three-dimensional coordinates (X, Y, Z) of multiple bolts, as well as complex motion trajectory parameters.

[0121] The drive module is electrically connected to the servo driver of the drive motor 1 of the linear drive unit 5, the servo driver of the drive motor 2 of the electric hoist 61, the servo driver of the drive motor 3 of the retraction unit 74, the servo driver of the drive motor 4 of the drive mechanism 75, the electric push rod controller of the electric push rod 1 41 of the push unit 4, the electric push rod controller of the electric push rod 3 81 of the locking mechanism 8, and the electric push rod controller of the electric push rod 2 of the connecting arm 73.

[0122] The drive module is the bridge between the control module PLC controller and the actuator. It is responsible for converting the control signal pulses, analog quantities, and digital instructions output by the PLC into electrical power to drive the actuator, so that the motors and electric push rods of the actuator move according to the instructions.

[0123] The human-machine interface module is a handheld remote control with control buttons, including a bolt selection button, an emergency stop button, a manual / automatic switch, status indicator lights, and a display screen.

[0124] The position detection module includes: a multi-turn absolute encoder installed at the end of the lead screw 52 of the linear drive unit 5, used to detect the position of the hydraulic wrench 1 along the length of the slide rail 2, so as to select bolts at different positions on the same side, for X-axis position detection; a wire displacement sensor installed on the side plate 32, with its wire end connected to the fixed plate 34, used to detect the proximity of the hydraulic wrench 1 to the bolt, and control the feed amount of the hydraulic wrench 1, for Y-axis stroke detection; a multi-turn absolute encoder installed at the end of the reel shaft of the electric hoist 61; and a laser rangefinder sensor installed below the mounting plate 31 of the balance platform 3, used to detect the height position of the hydraulic wrench 1 relative to the bolt, for Z-axis height detection.

[0125] The attitude detection module includes a dual-axis tilt sensor located above the mounting plate 31 to monitor whether the balance platform is tilted.

[0126] The alignment detection module includes a contact limit switch on the side of the U-shaped groove of the fixing bracket 2 35 near the bolt, which is used to detect whether the hydraulic wrench 1 is aligned with the sleeve on the bolt.

[0127] The communication module includes an Ethernet module for providing wired network connectivity; an industrial-grade Wi-Fi module for receiving wireless signals from the handheld remote control; an RS485 module for connecting to third-party smart meters; and a protocol converter for protocol conversion between devices to achieve unified PLC control.

[0128] In actual use, the control unit 9 controls the drive motor three of the gathering unit 74 to release the second cable, so that the connecting arm 73 is lowered. The drive motor two of the electric hoist 61 simultaneously releases the first cable, so that the balance platform 3 is lowered.

[0129] When the position detection module detects that the balance platform 3 has descended to the height of the slide rail 2, it controls the electric hoist 61 to stop. The operator manually inserts the connecting brackets 36 on both sides of the balance platform 3 into the through holes of the slider 23 of the slide rail 2 to complete the mechanical connection. At this time, the load of the balance platform 3 is borne by the slide rail 2, and the electric hoist 61 is in a relaxed state.

[0130] The operator holds a remote control through the human-machine interface module. The PLC calls the X coordinate of the bolt in the storage module and controls the drive motor of the linear drive unit 5 to rotate the lead screw 52, ​​which drives the slider 23 to move the balance table 3 along the slide rail 2 to the front of the bolt.

[0131] The electric push rod 41 of the PLC-controlled push unit 4 extends and pushes the hydraulic wrench 1 to move along the track 37 toward the bolt. When the alignment detection module detects that the hydraulic wrench 1 has been fully inserted into the sleeve of the bolt head, the electric push rod 41 stops.

[0132] If the height feedback from the laser rangefinder is inaccurate, the PLC controls the electric hoist 61 to move up and down slightly, so that the hydraulic wrench 1 is fully aligned with the bolt.

[0133] Finally, the PLC controls the electric push rod 81 of the locking mechanism 8 to move, pushing the conical positioning plate 82 into the gap of the straight ladder 83 of the connecting frame 36, the mechanical lock takes effect, the height of the balance platform 3 is rigidly fixed, and the electric hoist 61 is completely unloaded.

[0134] Control unit 9 sends commands to the solenoid valve group of the external hydraulic pump station through the communication module. High-pressure oil enters hydraulic wrench 1, and the operator manipulates hydraulic wrench 1 to output the preset torque to loosen the bolt.

[0135] After disassembly, the electric push rod 41 retracts, the hydraulic wrench 1 withdraws, and the linear drive unit 5 moves to the position of the next bolt. The above steps are repeated to complete the disassembly of multiple bolts on one side.

[0136] After all the bolts on the first side have been removed, the control unit 9 controls the electric push rod 3 81 to retract, releases the mechanical lock, and controls the electric hoist 61 to lift the balance platform 3 and the connecting frame 36 from the slider 23 of the slide rail 2, thus separating them from the slide rail 2.

[0137] The operator removed slide rail 2 from the left side of the unit and reinstalled it on the reserved hole on the right side of the unit.

[0138] The PLC-controlled drive mechanism 75 starts the drive motor four, which drives the support column 72 to rotate 180° via the reducer four, transferring the suspended balance platform 3 to the right side of the unit.

[0139] The control unit 74 works in conjunction with the electric hoist 61 to lower the balance platform 3, so that the connecting frame 36 is inserted back into the slider 23 of the right slide rail 2.

[0140] Then, repeat the above steps to complete the removal of all bolts on the second side.

[0141] After all bolts are removed, the control unit 9 controls the electric hoist 61 to fully lift the balance platform 3, disengaging it from the slide rail 2. The control unit 74 then winds up the cable 2, pulling the connecting arm 73 upwards. The connecting arm 73 is an electric push rod 2, which is controlled to retract, so that the balance platform 3 is folded into the space above the axial propeller unit, reducing its footprint and facilitating subsequent operations as well as the operation of the external bridge crane.

[0142] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A kind of axial flow variable pitch unit blade bolt dismounting frock, it is characterized in that: The device includes a hydraulic wrench (1) for loosening bolts, a slide rail (2) arranged on an axial propeller unit, and a balance platform (3) slidably arranged on the slide rail (2). The hydraulic wrench (1) is slidably arranged below the balance platform (3). A push unit (4) is provided on one side of the balance platform (3). The push unit (4) is used to drive the hydraulic wrench (1) to move along the length of the balance platform (3) to drive the hydraulic wrench (1) to approach or move away from the bolt. A linear drive unit (5) is provided on the slide rail (2). The linear drive unit (5) is used to drive the balance platform (3) to move along the length of the slide rail (2) to drive the hydraulic wrench (1) to switch different bolt positions.

2. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 1, characterized in that: The slide rail (2) includes a slide rail frame (21) arranged on one side of the axial flow propeller unit. A rectangular sliding hole (22) is provided on one side of the slide rail frame (21). Two sliders (23) are slidably arranged inside the rectangular sliding hole (22). A through hole is opened inside the slider (23). A connecting rod (24) is provided between the two sliders (23). Multiple fixing brackets (25) are provided above the slide rail frame (21). The other end of the fixing bracket (25) is connected to the reserved hole on the top of the axial flow propeller unit by bolts.

3. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 2, characterized in that: The balance platform (3) includes a mounting plate (31) and a side plate (32) located below the mounting plate (31). A track (37) is provided at the bottom of the mounting plate (31), and a slider (33) slides on the track (37). A fixing plate (34) is provided below the slider (33). A fixing bracket (35) is bolted to the side of the fixing plate (34) away from the side plate (32). A U-shaped groove adapted to the shape of the hydraulic wrench (1) is opened at the bottom of the fixing bracket (35). The hydraulic wrench (1) is fixed inside the U-shaped groove by bolts. Two connecting brackets (36) are arranged opposite each other on one side of the mounting plate (31), and the other end of the connecting bracket (36) is inserted into the through hole of the slider (23).

4. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 3, characterized in that: The pushing unit (4) includes an electric push rod (41) disposed on the side plate (32), and the piston rod of the electric push rod (41) is connected to the fixed plate (34).

5. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 2, characterized in that: The linear drive unit (5) includes a cavity (51) opened inside the slide rail frame (21). A lead screw (52) is rotatably installed inside the cavity (51). Two movable cylinders (53) are threadedly connected to the lead screw (52). A transmission rod (54) is provided at one end of the movable cylinder (53). A movable hole communicating with a rectangular sliding hole (22) is opened on one side of the cavity (51). One end of the transmission rod (54) passes through the movable hole and is connected to the corresponding slider (23). The linear drive unit (5) also includes a drive motor and a reducer mounted on the slide rail frame (21). The output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to one end of the lead screw (52).

6. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 3, characterized in that: It also includes a lifting mechanism (6), which includes an electric hoist (61) and a three-axis hoisting unit (62) connected to each other, and the three-axis hoisting unit (62) is connected to the balance platform (3).

7. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 6, characterized in that: The three-axis hoisting unit (62) includes: A fixed plate (621) connected to the electric hoist (61); Three hoisting cables (622) are arranged in a ring at the bottom of the fixed plate (621). A balance node (623) is set at the other end of the hoisting cable (622), and the balance node (623) is connected above the mounting plate (31).

8. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 7, characterized in that: The balancing node (623) includes: Two rotary dampers (6231) are mounted opposite each other on the mounting plate (31). Universal joint (6232) connected to the other end of the hoisting cable (622); A cross arm (6233) is located at the other end of the universal joint (6232). The fixed seats (6234) are set on both sides of the cross arm (6233), and the output shaft of the rotary damper (6231) is connected to the corresponding fixed seat (6234) through a flange.

9. The blade bolt disassembly fixture for an axial-flow propeller turbine unit according to claim 6, characterized in that: It also includes a hoisting mechanism (7), which includes a base (71) set above the rotor piston guide shaft of the axial propeller unit. A support column (72) is rotatably set on the base (71). A connecting arm (73) is hinged above the support column (72). The other end of the connecting arm (73) is connected to the electric hoist (61). A gathering unit (74) is set at the top of the support column (72). The gathering unit (74) is connected to the connecting arm (73) to adjust the tilt angle of the connecting arm (73). A drive mechanism (75) is set on the base (71). The drive mechanism (75) is used to drive the support column (72) to rotate.

10. A control system for disassembling and removing blade bolts in an axial-flow propeller turbine unit, characterized in that, Includes a control unit (9) for controlling the blade bolt removal fixture as described in any one of claims 1-9; The control unit (9) includes: The human-computer interaction module is used to receive manual operation commands and display the system status; The storage module is used to store the reserved position information of the bolts and system parameters; The control module is electrically connected to the linear drive unit (5), the push unit (4) and the lifting mechanism (6) respectively, and is used for logic operations and trajectory planning; A drive module, connected to the control module, is used to receive control commands and drive each drive motor and electric push rod to move. The position detection module is used to detect the position of the hydraulic wrench (1); The attitude detection module is used to monitor the balance state of the balance platform (3); The alignment detection module is used to monitor the docking status between the hydraulic wrench (1) and the socket; The communication module is used to realize remote monitoring, data interaction, or wireless control functions; The power supply module is used to provide 24V DC and isolated power to each module of the control unit (9) and the electrical control part of the tooling.

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