Hydropower station portal crane stroke positioning device

Abstract

A hydropower station portal crane stroke positioning device comprises a detection unit, a positioning unit and an encoder, the detection unit comprises a first detection sensor, a second detection sensor and a third detection sensor, and the first detection sensor and the second detection sensor are located at the two ends of a portal crane respectively. The third detection sensor is located between the first detection sensor and the second detection sensor, the third detection sensor corresponds to the center line of the portal crane lifting appliance, the positioning unit comprises a first positioning point, a second positioning point and a third positioning point, and the first positioning point and the second positioning point are located on the two sides of a door groove respectively. The third positioning point is located between the first positioning point and the second positioning point, the third positioning point corresponds to the center line of the door groove, the moving position of the door machine is detected through the encoder, and the door machine is made to move to the approximate position of the designated door groove; and then a detection unit arranged on the door machine is matched with a positioning unit arranged at a dam crest door groove to achieve accurate positioning.

Description

Technical Field

[0001] The utility model relates to the technical field of control of the top-gate crane in a hydropower station, and particularly relates to a stroke positioning device for a gate crane in a hydropower station. Background Art

[0002] A plurality of gate slots are arranged along the length direction of the dam crest of the hydropower station, and gates are installed in the gate slots. When these gates are opened and closed, they need to be operated by a gantry crane installed on the dam crest.

[0003] The gantry crane is simply called a gate crane. The traditional operation of the gate crane relies on its electrical control system to achieve start, acceleration / deceleration, stop, etc. through manual operation. When the gate crane has an operation task, it is necessary for the gate crane operator to cooperate with the ground commander in the driver's cab. After receiving the signal from the ground commander, the gate crane operator performs the operation. Therefore, there is a certain operation delay and the time point of manual stop control, that is, it is difficult to accurately judge and control the distance of the gate crane to the docking point. The precise positioning of the position of the gate crane often requires multiple jogging forward or backward operations to complete the docking position positioning. Therefore, the current operation mode of the gate crane has the problem of low operation efficiency.

[0004] Chinese Patent Document CN114197410A, Publication (Announcement) Date: March 18, 2022, discloses a hydropower station gate crane capable of precise positioning, including a trolley, which is arranged on the top platform of the gate slot and can move between the gate slot and the gate storage through the trolley traveling mechanism cooperating with the trolley moving track; a trolley frame, which can move along the direction perpendicular to the trolley moving track through the trolley traveling mechanism cooperating with the trolley moving track made on the trolley; a fine-tuning platform, which can move along the direction perpendicular to the fine-tuning moving track through the fine-tuning traveling mechanism cooperating with the fine-tuning moving track made on the trolley frame; a hoisting drum, which is installed on the fine-tuning platform; a grab beam mechanism, which is connected to the steel wire rope on the hoisting drum and is used to connect the grab beam mechanism with the door panel through the cooperation of the grab beam hydraulic cylinder on the grab beam mechanism and the hanging hole of the hanging ear on the door panel. Its characteristics are: detecting the distance error between the gate crane and the positioning monitoring point through a distance detector, and transmitting the distance error value to the fine-tuning traveling mechanism moving longitudinally for error compensation, so as to align the grab beam mechanism with the gate slot; its deficiencies are: First, to achieve this function, it is necessary to modify the mechanical structure of the gate crane, with a high cost; Second, due to the large weight of the gate crane, high running speed, and large inertia when stopping, there is a long distance between detecting the positioning monitoring point and the complete stop of the gate crane, and the fine-tuning traveling mechanism can only adjust the distance between the crossbeams at the top of the gate crane, and the adjustment range of the fine-tuning traveling mechanism is limited. In actual use, the gate crane can only be decelerated to shorten the stopping distance. Content of the Utility Model

[0005] The purpose of the present utility model is to provide a stroke positioning device for a hydropower station portal crane. By detecting the moving position of the portal crane through an encoder, the portal crane is moved to the approximate position of the specified gate slot. Then, precise positioning is achieved through the cooperation of the detection unit arranged on the portal crane and the positioning unit arranged at the dam top gate slot. During the process of the portal crane moving to the approximate position of the specified gate slot, the portal crane moves at full speed. When the detection unit detects the positioning unit, it starts to run at a low speed until it stops. In this way, it can not only ensure the operation efficiency of the portal crane, but also accurately dock, and there is no need to modify the mechanical structure of the portal crane.

[0006] To achieve the above purpose, the present utility model provides a stroke positioning device for a hydropower station portal crane, which includes a detection unit, a positioning unit and an encoder. The detection unit includes a first detection sensor, a second detection sensor and a third detection sensor. The first detection sensor and the second detection sensor are respectively located at both ends of the portal crane, and the third detection sensor is located between the first detection sensor and the second detection sensor. The third detection sensor corresponds to the center line of the portal crane spreader. The positioning unit includes a first positioning point, a second positioning point and a third positioning point. The first positioning point and the second positioning point are respectively located on both sides of the gate slot, and the third positioning point is located between the first positioning point and the second positioning point, and the third positioning point corresponds to the center line of the gate slot. The first detection sensor is used to detect the first positioning point, the second detection sensor is used to detect the second positioning point, the third detection sensor is used to detect the third positioning point, and the encoder is used to detect the moving distance of the portal crane.

[0007] The first detection sensor and the second detection sensor are arranged with an offset up and down, and the first detection sensor and the second positioning point are on the same side, the second detection sensor and the first positioning point are on the same side, and the third detection sensor is located between the first detection sensor and the second detection sensor up and down.

[0008] The first detection sensor, the second detection sensor and the third detection sensor are reflective photoelectric sensors installed on the bottom cross beam of the portal crane, and the first positioning point, the second positioning point and the third positioning point are reflector plates.

[0009] The first positioning point, the second positioning point and the third positioning point are respectively fixedly installed on the building through brackets.

[0010] The encoder is installed on a follow-up device. The follow-up device includes a housing and a follow-up wheel. The follow-up wheel is located inside the housing. The fixed shaft at the center of the follow-up wheel is rotatably connected to the housing through bearing seats at both ends. One end of the fixed shaft is provided with a protruding shaft. A support is installed on the housing on one side of the protruding shaft. A fixed sleeve is arranged on the support. The encoder is fixedly installed in the fixed sleeve. The central rotating shaft of the encoder is connected to the protruding shaft through a coupling. The housing is connected to one end of the bottom cross beam of the portal crane, and the follow-up wheel is located on the track of the portal crane.

[0011] One end of the housing is provided with a first hinge seat, and one end of the bottom cross beam is provided with a second hinge seat. The first hinge seat and the second hinge seat are hinged by a pin shaft penetrating horizontally.

[0012] Compared with the prior art, the utility model has the following technical effects:

[0013] The first detection sensor of the utility model is used to detect the first positioning point, the second detection sensor is used to detect the second positioning point, the third detection sensor is used to detect the third positioning point, and the encoder is used to detect the moving distance of the door machine. By detecting the moving position of the door machine through the encoder, the door machine is moved to the approximate position of the specified door slot. Then, precise positioning is realized through the cooperation between the detection unit arranged on the door machine and the positioning unit arranged at the dam top door slot. During the process of the door machine moving to the approximate position of the specified door slot, the door machine moves at full speed. When the detection unit detects the positioning unit, it starts to run at low speed until it stops. In this way, both the operation efficiency of the door machine can be ensured and it can dock accurately, and there is no need to modify the mechanical structure of the door machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art.

[0015] Figure 1 It is the front view structural schematic diagram of the utility model installed on the door machine.

[0016] Figure 2 It is the side view structural schematic diagram of the utility model installed on the door machine.

[0017] Figure 3 It is Figure 2 The enlarged structural schematic diagram at A in

[0018] Figure 4 It is the front view structural schematic diagram of the follow-up device of the utility model.

[0019] Figure 5 It is the left view structural schematic diagram of the follow-up device of the utility model.

[0020] Figure 6 It is Figure 4 The sectional structural schematic diagram of B-B in

[0021] In the figure:

[0022] Door machine 10, bottom cross beam 11, second hinge seat 12;

[0023] Detection unit 20, first detection sensor 21, second detection sensor 22, third detection sensor 23;

[0024] Positioning unit 30, first positioning point 31, second positioning point 32, third positioning point 33, bracket 34;

[0025] Encoder 40;

[0026] Follow-up device 50, housing 51, first hinge seat 52, follow-up wheel 53, fixed shaft 54, bearing seat 55, protruding shaft 56, support 57, fixed sleeve 58, coupling 59;

[0027] Door slot 60. Specific embodiments

[0028] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

[0029] Please refer to Figure 1 、 2 、3, a travel positioning device for a hydropower station gantry crane, comprising a detection unit 20, a positioning unit 30 and an encoder 40. The detection unit 20 includes a first detection sensor 21, a second detection sensor 22 and a third detection sensor 23. The first detection sensor 21 and the second detection sensor 22 are respectively located at both ends of the gantry crane 10, and the third detection sensor 23 is located between the first detection sensor 21 and the second detection sensor 22. The third detection sensor 23 corresponds to the center line of the spreader of the gantry crane 10. The positioning unit 30 includes a first positioning point 31, a second positioning point 32 and a third positioning point 33. The first positioning point 31 and the second positioning point 32 are respectively located on both sides of the door slot 60, and the third positioning point 33 is located between the first positioning point 31 and the second positioning point 32, and the third positioning point 33 corresponds to the center line of the door slot 60. The first detection sensor 21 is used to detect the first positioning point 31, the second detection sensor 22 is used to detect the second positioning point 32, the third detection sensor 23 is used to detect the third positioning point 33, and the encoder 40 is used to detect the moving distance of the gantry crane 10. By detecting the moving position of the gantry crane 10 with the encoder 40, the gantry crane 10 is moved to a general position of the specified door slot 60, and then precise positioning is achieved by the cooperation of the detection unit 20 provided on the gantry crane 10 and the positioning unit 30 provided at the dam top door slot. During the process of the gantry crane 10 moving to the general position of the specified door slot 60, the gantry crane moves at full speed. When the detection unit 20 detects the positioning unit 30, it starts to run at low speed until it stops. In this way, both the operation efficiency of the gantry crane can be guaranteed and accurate docking can be achieved, and there is no need to modify the mechanical structure of the gantry crane.

[0030] The position of each gate slot at the top of the dam is fixed. Starting from one end of the dam, each gate slot has a fixed range value, and the encoder 40 measures this range value. When the gate machine 10 enters this range, the detection unit 20 detects the corresponding positioning unit 30 to achieve accurate positioning.

[0031] When the gate machine 10 moves from right to left, if the gate machine corresponds to one of the gate slots 60 according to the measured value of the encoder 40 at this time, the detection unit 20 on the gate machine will detect the positioning units 30 on both sides of the gate slot 60. See Figure 1 , at this time, the first detection sensor 21 detects the first positioning point 31, and the gate machine 10 starts to decelerate to low-speed operation. When the third detection sensor 23 detects the third positioning point 33, the gate machine 10 stops. Similarly, when the gate machine 10 moves from left to right, when the second detection sensor 22 detects the second positioning point 32, the gate machine 10 starts to decelerate to low-speed operation, and when the third detection sensor 23 detects the third positioning point 33, the gate machine 10 stops.

[0032] In this embodiment, the encoder 40 can be connected to the output shaft of the speed reducer that drives the track wheel of the gate machine 10. When the track wheel rotates one week, the gate machine 10 moves a distance equal to the circumference of the track wheel. The encoder 40 can measure the moving distance of the gate machine according to the circumference of the track wheel.

[0033] In this embodiment, the encoder 40 adopts an Omron E6B2 series encoder. The first detection sensor 21, the second detection sensor 22, and the third detection sensor 23 can adopt magnetic induction proximity switches.

[0034] Furthermore, the first detection sensor 21 and the second detection sensor 22 are arranged vertically offset, and the first detection sensor 21 and the second positioning point 32 are on the same side, the second detection sensor 22 and the first positioning point 31 are on the same side, and the third detection sensor 23 is located between the first detection sensor 21 and the second detection sensor 22 vertically. In this way, each detection sensor corresponds to each positioning point respectively, improving the accuracy of detection.

[0035] In a preferred embodiment, the first detection sensor 21, the second detection sensor 22, and the third detection sensor 23 are reflective photoelectric sensors installed on the bottom crossbeam 11 of the gate machine 10, and the first positioning point 31, the second positioning point 32, and the third positioning point 33 are reflector plates. Specifically, the reflective photoelectric sensor adopts a laser induction switch of model E3Z-LS61NO with integrated emission and reception. Thus, after the laser emitted by the reflective photoelectric sensor is reflected by the reflector plate, it is received by the sensor again to determine that the positioning point is detected.

[0036] See Figure 1-3, the first positioning point 31, the second positioning point 32, and the third positioning point 33 are respectively fixedly installed on the building through the bracket 34. Specifically, the bracket 34 is installed on the concrete foundation on one side of the portal crane 10 or welded to the guardrail on the side of the dam.

[0037] To facilitate the installation of the encoder 40, the encoder 40 is installed on the follower device 50. Refer to Figure 4 , 5 , 6, the follower device 50 includes a housing 51 and a follower wheel 53. The follower wheel 53 is located inside the housing 51. Both ends of the fixed shaft 54 at the center of the follower wheel 53 are rotatably connected to the housing 51 through bearing seats 55. One end of the fixed shaft 54 is provided with an extension shaft 56. A support 57 is installed on one side of the housing 51 where the extension shaft 56 is located. A fixed sleeve 58 is provided on the support 57. The encoder 40 is fixedly installed inside the fixed sleeve 58. The central rotating shaft of the encoder 40 is connected to the extension shaft 56 through a coupling 59. The housing 51 is connected to one end of the bottom crossbeam 11 of the portal crane 10, and the follower wheel 53 is located on the track of the portal crane 10.

[0038] The follower wheel 53 is a track wheel. When the follower wheel 53 rotates one week, it is the distance that the portal crane 10 moves.

[0039] Furthermore, refer to Figure 1 , 4 , one end of the housing 51 is provided with a first hinge seat 52, and one end of the bottom crossbeam 11 is provided with a second hinge seat 12. The first hinge seat 52 and the second hinge seat 12 are hinged through a pin shaft inserted horizontally. With the above structure, it is convenient to connect the follower device 50 to the portal crane 10.

[0040] Specifically, the second hinge seat 12 is a longitudinally arranged double-ear seat, and the first hinge seat 52 is a single-ear seat. The first hinge seat 52 is inserted into the second hinge seat 12 and hinged through a pin shaft.

[0041] The working principle or operation process of the present utility model is as follows:

[0042] When the portal crane 10 moves from right to left, if at this time the portal crane 10 corresponds to one of the door slots 60 according to the measured value of the encoder 40, refer to Figure 1 , when the first detection sensor 21 detects the first positioning point 31, the portal crane 10 starts to decelerate and runs at a low speed. When the third detection sensor 23 detects the third positioning point 33, the portal crane 10 stops. Similarly, when the portal crane 10 moves from left to right, when the second detection sensor 22 detects the second positioning point 32, the portal crane 10 starts to decelerate and runs at a low speed. When the third detection sensor 23 detects the third positioning point 33, the portal crane 10 stops.

[0043] It should be noted that when this application is in use, the detection unit 20 and the encoder 40 are electrically connected to the controller respectively. The controller uses the PLC on the door machine 10 to measure the distance position through the encoder 40, which is a conventional application of the encoder 40 and is prior art. Detecting the positioning point through the reflective photoelectric sensor is also a conventional application of the reflective photoelectric sensor and is prior art. For example, a container crane traveling positioning device and a container crane traveling positioning method disclosed in JP2003192268A disclose decelerating or stopping after detecting a magnet through a sensor. In addition, CN207516815U discloses an intelligent garage positioning control system, which discloses that when the encoder detects the deceleration position and the photoelectric switch B1 emits a signal, the PLC controller controls the carrier vehicle to decelerate. When the encoder position data shows that the carrier vehicle reaches the stop position and the stop photoelectric switch B2 emits a signal, the PLC controller controls the carrier vehicle to stop. Therefore, this application does not involve the improvement of the program.

Claims

1. A travel positioning device for a gantry crane of a hydropower station, characterized in that: The invention comprises a detection unit (20), a positioning unit (30) and an encoder (40), wherein the detection unit (20) comprises a first detection sensor (21), a second detection sensor (22) and a third detection sensor (23), wherein the first detection sensor (21) and the second detection sensor (22) are respectively located at two ends of a door machine (10), the third detection sensor (23) is located between the first detection sensor (21) and the second detection sensor (22), and the third detection sensor (23) corresponds to the center line of a hanger of the door machine (10), the positioning unit (30) comprises a first positioning point (31), a second positioning point (32) and a third positioning point (33), wherein the first positioning point (31) and the second positioning point (32) are respectively located at two sides of a door slot (60), the third positioning point (33) is located between the first positioning point (31) and the second positioning point (32), and the third positioning point (33) corresponds to the center line of the door slot (60), the first detection sensor (21) is used to detect the first positioning point (31), The second detection sensor (22) is used to detect the second positioning point (32), the third detection sensor (23) is used to detect the third positioning point (33), and the encoder (40) is used to detect the moving distance of the door machine (10).

2. A hydropower station gantry crane travel positioning device according to claim 1, characterized in that: The first detection sensor (21) and the second detection sensor (22) are arranged in an upper and lower staggered manner, and the first detection sensor (21) and the second positioning point (32) are located on the same side, the second detection sensor (22) and the first positioning point (31) are located on the same side, and the third detection sensor (23) is located between the first detection sensor (21) and the second detection sensor (22) above and below.

3. A hydropower station gantry crane travel positioning device according to claim 1, characterized in that: The first detection sensor (21), the second detection sensor (22) and the third detection sensor (23) are reflective photoelectric sensors installed on the bottom crossbeam (11) of the door machine (10), and the first positioning point (31), the second positioning point (32) and the third positioning point (33) are reflective plates.

4. A hydropower station gantry crane travel positioning device according to claim 1, characterized in that: The first positioning point (31), the second positioning point (32) and the third positioning point (33) are respectively mounted and fixed to the building via brackets (34).

5. A hydropower station gantry crane travel positioning device according to claim 1, characterized in that: The encoder (40) is mounted on a follower device (50). The follower device (50) comprises a housing (51) and a follower wheel (53). The follower wheel (53) is located in the housing (51). Two ends of a fixed shaft (54) at the center of the follower wheel (53) are rotatably connected to the housing (51) via bearing seats (55), respectively. An extension shaft (56) is provided at one end of the fixed shaft (54). A support (57) is installed on one side of the extension shaft (56) on the housing (51). A fixing sleeve (58) is provided on the support (57). The encoder (40) is fixedly mounted in the fixing sleeve (58). The central rotating shaft of the encoder (40) is connected to the extension shaft (56) via a coupling (59). The housing (51) is connected to one end of a bottom crossbeam (11) of a door machine (10). The follower wheel (53) is located on a track of the door machine (10).

6. A hydropower station gantry crane travel positioning device according to claim 5, characterized in that: A first hinge seat (52) is provided at one end of the housing (51), and a second hinge seat (12) is provided at one end of the bottom crossbeam (11); the first hinge seat (52) and the second hinge seat (12) are hingedly connected via a pin shaft that penetrates transversely.

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