Automatic opening and closing device for concrete cover plate of gate storage groove of hydropower station

Abstract

The utility model discloses an automatic opening and closing device for a concrete cover plate of a storage gate groove of a hydropower station, which comprises a cart traveling mechanism, a trolley traveling mechanism, a hoisting mechanism, a supporting mechanism and a controller, and the actions of the cart traveling mechanism, the trolley traveling mechanism, the hoisting mechanism and the supporting mechanism are accurately controlled by the controller. Automatic opening, stacking and closing of concrete cover plates are achieved, the working efficiency is greatly improved, the requirement for manual operation is reduced, meanwhile, potential safety hazards caused by manual operation errors are reduced, operation information is pre-stored in the system configuration stage, the operation process is ordered, the preparation time is shortened, and the working efficiency is improved; a magnetic navigation sensor on the steering wheel is matched with a magnetic strip laid on the dam surface of the hydropower station, so that the accurate running of the opening and closing device on the dam surface is ensured, the offset is reduced, and the positioning accuracy is improved; the path and the task sequence are automatically planned, the operation process is simplified, and the opening and closing operation of the multiple cover plates can be continuously and efficiently carried out.

Description

Technical Field

[0001] The utility model relates to the technical field of opening and closing of concrete covers for storage gate slots in hydropower stations, and particularly relates to an automatic opening and closing device for concrete covers of storage gate slots in hydropower stations. Background Art

[0002] At present, most of the gate slots covers in hydropower stations are made of reinforced concrete. When performing opening and closing operations, the cooperation of the gantry crane driver, ground commander, and slinger is required. First, operate the gantry crane to drive to the working position and operate the lifting tool to match the position of the cover to be opened and closed. Since the current operation and positioning of the gantry crane in hydropower stations completely rely on the cooperation of ground command and gantry crane driver, the operation and positioning of the gantry crane and the lifting tool are difficult. After completing the above process, the ground personnel sling the cover to be opened and closed. Then, the opening and closing operation of the cover is completed through the hoisting mechanism of the gantry crane. When the cover is reinstalled, for the case where there are multiple covers in a gate bay, the gap between each cover needs to be strictly controlled during reinstallation. Otherwise, it may cause the last cover to be unable to be reinstalled due to the excessive gap between the divided blocks. When the traditional cover is reinstalled, the gap control of each cover completely relies on the visual observation of the slinger, resulting in large deviations, and often the situation of rework occurs because the last cover cannot be reinstalled. The work efficiency is extremely low. There is an urgent need for a device that can realize the automatic opening and closing of concrete covers to alleviate the above pain points of the current dam surface lifting operations.

[0003] The invention patent application with the patent publication number of CN110673209A discloses a multi-functional gantry crane, including a base beam, a first slewing crane, a second slewing crane, and a mobile hoist. A truss is horizontally arranged above the base beam, and a mobile hoist is arranged above the truss. A first slewing crane and a second slewing crane are respectively arranged on both sides above the base beam. The base beam is installed on the ground track by rolling through a trolley running mechanism; a trolley traveling mechanism is arranged below the mobile hoist, and the trolley traveling mechanism is installed on the track above the truss. A drum is also arranged on the mobile hoist, and the drum is connected to a hoisting cable. The bottom of the hoisting cable is provided with a hoisting shaft, and both the drum, the hoisting cable, and the hoisting shaft are two in parallel.

[0004] However, the gantry crane involved in this patent is mainly used for the hoisting of gates. When hoisting concrete covers, it is usually necessary to connect the grab beam and the concrete with a steel wire rope, and the opening and closing operation of the concrete cover can be completed only through the close cooperation among the on-site slinger, gantry crane operator, and on-site commander; this process has low efficiency and requires a large amount of manual input, and it is very difficult to achieve automation and intelligence; and due to the large external dimensions of the gantry crane itself, it has poor flexibility when performing the lifting operation of concrete covers on the dam surface. Summary of the Utility Model

[0005] To solve the above problems and improve the opening and closing efficiency of the concrete cover plate of the storage gate groove in a hydropower station, the present utility model proposes an automatic opening and closing device for the concrete cover plate of the storage gate groove in a hydropower station. It can effectively reduce the personnel input during the opening and closing of the cover plate, and improve the operation efficiency and the reinstallation accuracy of the cover plate.

[0006] To achieve the above invention purpose, the technical solution of the present utility model is as follows:

[0007] An automatic opening and closing device for the concrete cover plate of the storage gate groove in a hydropower station, comprising a trolley traveling mechanism, a car traveling mechanism and a controller. The trolley traveling mechanism includes a steering wheel and a trolley frame. The steering wheel is installed at the bottom of the trolley frame. The car traveling mechanism includes a car frame. The bottom of the car frame is connected to the top of the trolley frame through a linear motion pair. The car frame is connected with a liftable lifting mechanism. A magnetic lifting device for lifting the concrete cover plate is arranged at the bottom of the lifting mechanism. A support mechanism for supporting the trolley frame is arranged at the bottom of the trolley frame. A magnetic navigation sensor is arranged on the steering wheel. The controller is respectively in signal connection with the steering wheel, the linear motion pair, the lifting mechanism, the magnetic lifting device and the magnetic navigation sensor.

[0008] The lifting mechanism includes a lifting oil cylinder and a fixed beam. Through holes are respectively arranged on both sides of the car frame. The fixed beam is connected to the top of the car frame. The top of the lifting oil cylinder is connected to the fixed beam. The bottom of the lifting oil cylinder passes through the through hole of the car frame and extends downward to be connected with the magnetic lifting device.

[0009] The support mechanism includes a guiding beam and a driving oil cylinder. The guiding beams are respectively connected to the top and the bottom of the driving oil cylinder. The guiding beam at the top of the driving oil cylinder is fixedly connected to the bottom of the trolley frame. There are 4 support mechanisms, which are respectively arranged at the four corners of the bottom of the trolley frame. A gyroscope is also arranged at the bottom of the trolley frame. The gyroscope is in signal connection with the controller.

[0010] The magnetic lifting device includes a housing, an electromagnet and a permanent magnet. There are 4 steering wheels, which are respectively installed at the four corner positions of the bottom of the trolley frame. Steel plates are embedded at both ends of the concrete cover plate as targets. A magnetic strip cooperating with the magnetic navigation sensor is laid on the dam surface of the hydropower station.

[0011] A visual sensor for monitoring the combined state of the magnetic lifting device and the concrete cover plate is arranged at the bottom of the car frame. The visual sensor is in signal connection with the controller.

[0012] A plurality of lidar sensors are respectively arranged in the front and rear traveling directions of the steering wheel. The lidar sensors are fixedly connected to the steering wheel through brackets. The lidar sensors turn synchronously with the steering wheel. The lidar sensors irradiate different distances in the traveling direction of the steering wheel. The lidar sensors are in signal connection with the controller.

[0013] There are more than 3 lidar sensors respectively arranged in the front and rear traveling directions of the steering wheel. At least one lidar sensor irradiates a distance of more than 300 mm in front of the traveling direction of the steering wheel; at least one lidar sensor irradiates a distance of 150 - 250 mm in front of the traveling direction of the steering wheel; at least one lidar sensor irradiates a distance of 50 - 100 mm in front of the traveling direction of the steering wheel.

[0014] A suspension system is also arranged on the steering wheel. The suspension system includes a shock-absorbing spring and a guide post. The guide post is arranged in the middle of the shock-absorbing spring. The top and bottom of the suspension system are respectively connected to the vehicle frame and the steering wheel through flanges.

[0015] The linear motion pair includes a gear, a rack and a driving device. The rack is arranged on the top of the large vehicle frame. The gear is rotatably connected to the bottom of the small vehicle frame. The driving device includes a driving servo motor and a vertical shaft reducer. The output shaft of the driving servo motor is in transmission connection with the vertical shaft reducer. The output end of the vertical shaft reducer is in transmission connection with the gear. The driving servo motor is in signal connection with the controller.

[0016] The fixed beam is rotatably connected to the small vehicle frame through a slewing mechanism. Electric push rods I are respectively arranged at both ends of the fixed beam. The electric push rods I are arranged oppositely. Both ends of the electric push rods I are respectively hinged to the small vehicle frame and the side surface of the fixed beam. The electric push rods I are in signal connection with the controller.

[0017] The fixed beam includes a slewing beam and a sliding beam. The slewing beam is rotatably connected to the small vehicle frame through a slewing mechanism. The bottom of the sliding beam is slidably connected to the top of the slewing beam. Electric push rods II are respectively arranged at both ends of the small vehicle frame. Both ends of the electric push rods II are respectively hinged to the small vehicle frame and the end face of the fixed beam. The electric push rods II are in signal connection with the controller.

[0018] An RFID tag is arranged on the concrete cover plate. An RFID reading module for identifying and positioning the RFID tag on the concrete cover plate is arranged at the bottom of the large vehicle frame. The RFID reading module is in signal connection with the controller.

[0019] The beneficial effects of the utility model:

[0020] 1. In this utility model, the actions of the cart traveling mechanism, trolley traveling mechanism, hoisting mechanism, and supporting mechanism are precisely controlled by a controller, realizing the automatic opening, stacking, and closing of concrete covers, greatly improving work efficiency, reducing the need for manual operation, and at the same time reducing potential safety hazards caused by human operation errors. The pre-storage of operation information in the system configuration stage makes the entire operation process more orderly, reduces preparation time, and improves operation efficiency. Automatically planning the path and task sequence simplifies the operation process, enabling the opening and closing operations of multiple covers to be carried out continuously and efficiently.

[0021] 2. In this utility model, the magnetic navigation sensor on the steering wheel cooperates with the magnetic strip laid on the dam surface of the hydropower station, ensuring the precise travel of the opening and closing device on the dam surface, reducing deviation, and improving positioning accuracy. Navigation is carried out by laying magnetic strips on the dam surface of the hydropower station. The magnetic strips can be arranged flexibly and adjusted according to different operation requirements, with strong adaptability.

[0022] 3. In this utility model, by setting a vision sensor at the bottom of the trolley frame, the combination state of the magnetic lifting device and the target on the concrete cover can be monitored in real time, and precise alignment can be carried out through the controller, improving the intelligent level of operation.

[0023] 4. In this utility model, the controller dynamically adjusts the deflection angle of the steering wheel, the hoisting oil cylinder, and the driving oil cylinder according to the real-time data provided by the magnetic navigation sensor and the vision sensor, realizing rapid response and adaptive control for different working conditions, ensuring the smoothness and success rate of operation; the automatic opening and closing device can quickly and accurately complete the opening and closing work of the concrete cover, improving the maintenance efficiency of the storage gate groove of the hydropower station and reducing the downtime.

[0024] 5. In this utility model, the introduction of the suspension system effectively absorbs vibrations during travel, protects the equipment, and at the same time ensures the stable operation of the automatic opening and closing device on complex terrains. The supporting mechanism and the suspension system enhance the overall structural stability, especially when hoisting and moving heavy objects, effectively avoiding shaking and accidents.

[0025] 6. In the present utility model, by arranging a plurality of lidar sensors in the front and rear traveling directions of the steering wheel, the road conditions in the traveling direction of the steering wheel can be monitored in real time, improving the device's environmental perception ability; according to the distance at which an obstacle appears, different obstacle avoidance strategies such as warning steering, speed steering, and reverse steering are adopted to ensure the stable operation of the device in a complex environment; dangerous situations such as an open cover plate, obstacles, and depressions on the traveling route are promptly detected and avoided, effectively preventing possible collisions and damages and improving the operation safety; by increasing the number of lidar sensors, the monitoring range is further expanded, and the perception accuracy of the device for the surrounding environment is improved; the device can promptly respond to obstacles at different distances and adopt corresponding obstacle avoidance strategies, enhancing the device's adaptability to different environments; it can identify and avoid obstacles more quickly and accurately, reducing the time wasted due to obstacle avoidance and improving the operation efficiency.

[0026] 7. In the present utility model, through the combined use of electric push rod I and electric push rod II, high-precision alignment between the magnetic lifting device and the concrete cover plate is achieved, improving the operation precision; the small-range rotation between the fixed beam and the carriage frame and the small-range reciprocating movement of the sliding beam on the top of the rotary beam make the device more flexible during operation and can adapt to the operation requirements at different angles and positions; through precise alignment and flexible adjustment, unnecessary adjustment and waiting time are reduced, and the operation efficiency is improved.

[0027] 8. In the present utility model, by arranging four support mechanisms and a gyroscope, the levelness of the opening and closing device can be monitored and adjusted in real time, ensuring the stability of the device during operation; the stable levelness can avoid potential safety hazards caused by the inclination of the device during operation and improve the operation safety; this design enables the opening and closing device to adapt to more complex operation environments and expands the application range of the device.

[0028] 9. In the present utility model, by combining the RFID tags on the concrete cover plate with the RFID reading module at the bottom of the large vehicle frame, precise identification and positioning confirmation of the working position are achieved. This design simplifies the positioning process, improves the automation level, and ensures that each operation can accurately reach the specified position, which has a significant effect on improving the overall operation efficiency and accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of the present utility model.

[0030] Figure 2 is a schematic structural diagram of the trolley traveling mechanism of the present utility model.

[0031] Figure 3 is a schematic structural diagram of the driving device of the trolley traveling mechanism of the present utility model.

[0032] Figure 4 This is a schematic structural diagram of the hoisting mechanism of the present utility model.

[0033] Figure 5 This is a schematic structural diagram of the support mechanism of the present utility model.

[0034] Among them, 11 is the trolley traveling mechanism; 111 is the steering wheel; 112 is the trolley frame; 12 is the crab traveling mechanism; 121 is the crab frame; 13 is the hoisting mechanism; 131 is the hoisting oil cylinder; 132 is the magnetic sling; 133 is the fixed beam; 134 is the slewing mechanism; 135 is the slewing beam; 136 is the sliding beam; 137 is the electric push rod I; 138 is the electric push rod II; 14 is the support mechanism; 141 is the guiding beam; 142 is the driving oil cylinder; 15 is the linear motion pair; 151 is the gear; 152 is the rack; 153 is the servo drive motor; 154 is the vertical shaft reducer. Specific embodiments

[0035] The present utility model will be further described in detail below in conjunction with embodiments, but the embodiments of the present utility model are not limited thereto.

[0036] Embodiment 1

[0037] This embodiment provides an automatic opening and closing device for the concrete cover plate of the gate slot of a hydropower station, as Figures 1-5As shown in the figure, it includes a cart traveling mechanism 11, a trolley traveling mechanism 12, a lifting mechanism 13, a support mechanism 14 and a controller. The cart traveling mechanism 11 includes steering wheels 111 and a cart frame 112, and the steering wheels 111 are respectively installed at the four corner positions of the bottom of the cart frame 112. The trolley traveling mechanism 12 includes a trolley frame 121, and the bottoms on both sides of the trolley frame 121 are connected to the top of the cart frame 112 through linear motion pairs 15. The lifting mechanism 13 includes a lifting oil cylinder 131, a magnetic lifting device 132 and a fixed beam 133. Through holes are respectively arranged on both sides of the trolley frame 121. The fixed beam 133 is connected to the top of the trolley frame 121. The top of the lifting oil cylinder 131 is connected to the fixed beam 133, and the bottom of the lifting oil cylinder 131 passes through the through hole of the trolley frame 121 and extends downward to be connected to the magnetic lifting device 132. The support mechanism 14 includes a guiding beam 141 and a driving oil cylinder 142. The guiding beams 141 are respectively connected to the top and bottom of the driving oil cylinder 142, and the guiding beam 141 at the top of the driving oil cylinder 142 is fixedly connected to the bottom of the cart frame 112. The magnetic lifting device 132 includes a housing, an electromagnet and a permanent magnet. A magnetic navigation sensor is arranged on the steering wheel 111, and steel plates are embedded at both ends of the concrete cover plate as targets. The controller is respectively in signal connection with the steering wheel 111, the linear motion pair 15, the lifting oil cylinder 131, the driving oil cylinder 142, the electromagnet and the magnetic navigation sensor. A suspension system is also arranged on the steering wheel 111. The suspension system includes a shock-absorbing spring and a guiding column. The guiding column is arranged in the middle of the shock-absorbing spring, and the top and bottom of the suspension system are respectively connected to the vehicle frame and the steering wheel 111 through flanges;

[0038] The linear motion pair 15 includes a gear 151, a rack 152 and a driving device. The rack 152 is arranged on the top of the cart frame 112. The gear 151 is rotatably connected to the bottom of the trolley frame 121. The driving device includes a driving servo motor 153 and a vertical shaft reducer 154. The output shaft of the driving servo motor 153 is in transmission connection with the vertical shaft reducer 154, and the output end of the vertical shaft reducer 154 is in transmission connection with the gear 151. The driving servo motor 153 is in signal connection with the controller. Through the meshing between the gear 151 and the rack 152, the driving wheel can be prevented from slipping, and the accurate positioning control of the trolley in the running direction and distance can be realized through the absolute value encoder on the servo motor.

[0039] In this embodiment, steel plates are embedded at both ends of the concrete cover plate. A magnetic strip is laid on the dam surface of the hydropower station. According to the working path requirements of this device, it is arranged by the method of grooving and laying on the dam surface. After the magnetic strip is laid, the surface is backfilled with cement mortar to fill the gaps to avoid damaging the magnetic strip during daily dam surface passage. The laying range of the magnetic strip mainly includes the parking garage and the cover plate hoisting work area.

[0040] In this embodiment, the opening and closing of the concrete cover plate of the storage gate groove of the hydropower station is realized through the following steps, including the following steps:

[0041] 1) System configuration: Store the magnetic strip layout diagram of the dam surface operation area, the cover plate distribution diagram, the orifice information, the cover plate number, the cover plate position, and the cover plate weight information in the controller;

[0042] 2) The opening and closing device travels to the working position:

[0043] When the controller receives the operation instruction to open the concrete cover plate, the controller plans the road according to the position of the opening and closing device. The controller controls the steering wheel 111 to drive the opening and closing device to travel to the working position. During the walking process, the magnetic navigation sensor measures the offset between the vehicle body and the embedded magnetic strip. The controller adjusts the deflection angle of the steering wheel 111 according to the data of the magnetic navigation sensor to adjust the traveling direction of the opening and closing device;

[0044] 3) Open the concrete cover plate: When the opening and closing device travels to the working position, the controller controls the driving oil cylinder 142 of the support mechanism 14 to act, and jacks up the opening and closing device until the four steering wheels 111 leave the ground at the same time;

[0045] The controller controls the lifting oil cylinder 131 to act to push the magnetic lifting tool 132 above the concrete cover plate. The permanent magnet of the magnetic lifting tool 132 is connected by magnetism with the target. After the controller controls the electromagnet to energize and the suction force of the magnetic lifting tool 132 reaches the set value, the lifting oil cylinder 131 rises to lift the concrete cover plate and complete the opening of the cover plate;

[0046] 4) Stack the concrete cover plate: When the lifting oil cylinder 131 rises to the set position, the controller controls the oil cylinder of the support mechanism 14 to retract, and the four steering wheels 111 land; The controller controls the steering wheel 111 to drive the opening and closing device to travel to the stacking planning area of the cover plate and complete the stacking of the concrete cover plate;

[0047] 5) Open other concrete cover plates: The controller controls the opening and closing device to run to the next working position to continue to complete the opening of other concrete cover plates;

[0048] 6) Close the concrete cover plate: When the controller receives the operation instruction to close the concrete cover plate, the controller controls the steering wheel 111 to drive the automatic opening and closing device to lift the concrete cover plate from the stacking area of the concrete cover plate and run to the working position to complete the closing of the concrete cover plate.

[0049] Embodiment 2

[0050] Compared with Embodiment 1, this embodiment is different in that in this embodiment, a vision sensor for monitoring the combined state of the magnetic sling 132 and the target is provided at the bottom of the trolley frame 121. The vision sensor is signal-connected to the controller. The vision sensor provided at the bottom of the trolley running mechanism trolley frame 121 is used to capture the position states of the magnetic sling 132 and the target. The controller calculates the position deviation between the two, and then through the action of the trolley running mechanism, the magnetic sling 132 is aligned with the flush steel plate of the concrete cover plate. The remaining structures are the same as those in Embodiment 1.

[0051] In this embodiment, when the four idler wheels 111 of the opening and closing device leave the ground at the same time, the vision sensor monitors the combined state of the magnetic sling 132 and the target in real time. The controller controls the trolley running mechanism to adjust the position of the magnetic sling 132 according to the data of the vision sensor, and aligns the magnetic sling 132 with the flush steel plate of the concrete cover plate.

[0052] Embodiment 3

[0053] Compared with Embodiment 1, this embodiment is different in that in this embodiment, three lidar sensors are respectively provided in the front and rear traveling directions of the idler wheel 111. The lidar sensors are fixedly connected to the idler wheel 111 through brackets, and the lidar sensors turn synchronously with the idler wheel 111. The lidar sensors irradiate different distances in the traveling direction of the idler wheel 111. The lidar sensors are signal-connected to the controller. One lidar sensor irradiates a distance of 300 mm in front of the traveling direction of the idler wheel 111. One lidar sensor irradiates a distance of 200 mm in front of the traveling direction of the idler wheel 111. One lidar sensor irradiates a distance of 80 mm in front of the traveling direction of the idler wheel 111. The lidar sensors monitor the road conditions in the traveling direction of the idler wheel 111 in real time. When obstacles such as the opening of the cover plate, obstacles, and depressions that the opening and closing device cannot pass through appear in the traveling direction of the idler wheel 111, actions such as warning turning, speed turning, and reverse turning are taken according to the distance at which the obstacles appear. The remaining structures are the same as those in Embodiment 1.

[0054] In this embodiment, the lidar sensor monitors the road conditions in the traveling direction of the steering wheel 111 in real time. When an obstacle that the automatic opening and closing device cannot pass through is detected at a distance of 300 mm in front of the traveling direction of the steering wheel 111, the controller controls the steering wheel 111 to adjust the deflection angle of the steering wheel 111 to bypass it; when an obstacle is detected at a distance of 200 mm in front of the traveling direction of the steering wheel 111, the controller controls the steering wheel 111 to decelerate and adjust the deflection angle of the steering wheel 111 to bypass it; when an obstacle is detected at a distance of 80 mm in front of the traveling direction of the steering wheel 111, the controller controls the steering wheel 111 to stop traveling and travel in the reverse direction, and adjusts the deflection angle of the steering wheel 111 to bypass it; when the controller controls the steering wheel 111 to travel in the reverse direction, the controller adjusts the distance of traveling in the reverse direction according to the lidar sensor at the rear, and can travel forward and backward repeatedly according to the terrain to bypass the obstacle.

[0055] Embodiment 4

[0056] Compared with Embodiment 3, the difference in this embodiment is that in this embodiment, six lidar sensors are respectively arranged in the front and rear traveling directions of the steering wheel 111. The lidar sensors are fixedly connected to the steering wheel 111 through brackets, and the lidar sensors turn synchronously with the steering wheel 111. The lidar sensors irradiate different distances in the traveling direction of the steering wheel 111, and the lidar sensors are signal-connected to the controller; one lidar sensor irradiates a distance of 350 mm in front of the traveling direction of the steering wheel 111; one lidar sensor irradiates a distance of 400 mm in front of the traveling direction of the steering wheel 111; one lidar sensor irradiates a distance of 150 mm in front of the traveling direction of the steering wheel 111; one lidar sensor irradiates a distance of 250 mm in front of the traveling direction of the steering wheel 111; one lidar sensor irradiates a distance of 100 mm in front of the traveling direction of the steering wheel 111; one lidar sensor irradiates a distance of 50 mm in front of the traveling direction of the steering wheel 111; the lidar sensors monitor the road conditions in the traveling direction of the steering wheel 111 in real time. When obstacles such as the cover plate being opened, obstacles, and depressions that the opening and closing device cannot pass through appear in the traveling direction of the steering wheel 111, warning steering, speed steering, and reverse steering actions are taken according to the distance at which the obstacle appears; the rest of the structure is the same as that in Embodiment 1.

[0057] In this embodiment, the lidar sensor monitors the road conditions in the traveling direction of the steering wheel 111 in real time. When obstacles are detected at distances of 350 mm and 400 mm in front of the traveling direction of the steering wheel 111, the controller controls the steering wheel 111 to adjust the deflection angle to bypass; when obstacles are detected at distances of 150 mm and 250 mm in front of the traveling direction of the steering wheel 111, the controller controls the steering wheel 111 to decelerate and adjust the deflection angle to bypass; when obstacles are detected at distances of 50 mm and 100 mm in front of the traveling direction of the steering wheel 111, the controller controls the steering wheel 111 to stop traveling and travel in the reverse direction, and adjusts the deflection angle of the steering wheel 111 to bypass; in this embodiment, through multiple lidar sensors, the detection range is wider and the perception ability of the operating environment is stronger.

[0058] Embodiment 5

[0059] Compared with Embodiment 2, the difference in this embodiment is that in this embodiment, the fixed beam 133 is rotatably connected to the car body frame 121 through a slewing mechanism 134. Electric push rods I 137 are respectively arranged at both ends of the fixed beam 133. The electric push rods I 137 are arranged oppositely. Both ends of the electric push rods I 137 are hinged to the car body frame 121 and the side surface of the fixed beam 133 respectively. The electric push rods I 137 are signal-connected to the controller; the electric push rods I 137 cooperate with the slewing mechanism 134 to realize a small-range rotation and angle adjustment between the fixed beam 133 and the car body frame 121; the fixed beam 133 includes a slewing beam 135 and a sliding beam 136. The slewing beam 135 is rotatably connected to the car body frame 121 through the slewing mechanism 134. The bottom of the sliding beam 136 is slidably connected to the top of the slewing beam 135; Electric push rods II 138 are respectively arranged at both ends of the car body frame 121. Both ends of the electric push rods II 138 are hinged to the car body frame 121 and the end surface of the fixed beam 133 respectively. The electric push rods II 138 are signal-connected to the controller; The electric push rod II 138 is used to drive the sliding beam 136 to reciprocate in a small range on the top of the slewing beam 135 to adjust the horizontal position, and the rest of the structure is the same as that of Embodiment 1.

[0060] In this embodiment, when the four steering wheels 111 of the opening and closing device leave the ground at the same time, the vision sensor monitors the position states of the magnetic lifting appliance 132 and the target in real time, and the controller controls the trolley running mechanism to adjust the position of the magnetic lifting appliance 132 according to the data of the vision sensor, so as to align the magnetic lifting appliance 132 with the flat-embedded steel plate of the concrete cover plate;

[0061] The controller controls the trolley running mechanism to adjust the position of the magnetic lifting appliance 132 according to the data of the vision sensor, which specifically includes the following steps:

[0062] a. The controller controls the electric push rod I137 to push the fixed beam 133 according to the data of the vision sensor, realizing a small-range rotation between the fixed beam 133 and the carriage frame 121, and adjusting the angle of the magnetic lifting device 132.

[0063] b. The controller controls the electric push rod II138 to push the sliding beam 136 according to the data of the vision sensor, and the sliding beam 136 makes a small-range reciprocating motion on the top of the slewing beam 135 to adjust the horizontal position.

[0064] Embodiment 6

[0065] Compared with Embodiment 1, the difference in this embodiment is that in this embodiment, 4 support mechanisms 14 are provided, and the support mechanisms 14 are respectively arranged at the four corners of the bottom of the large carriage frame 112. A gyroscope is also arranged at the bottom of the large carriage frame 112, and the gyroscope is signal-connected to the controller; an RFID tag is arranged on the concrete cover plate, and an RFID reading module for identifying and positioning the RFID tag on the concrete cover plate is arranged at the bottom of the large carriage frame 112, and the RFID reading module is signal-connected to the controller; the rest of the structure is the same as that of Embodiment 1.

[0066] In this embodiment, when the four idler wheels 111 of the opening and closing device leave the ground at the same time, the gyroscope monitors the levelness of the large carriage frame 112 in real time, and the controller adjusts the telescopic length of the drive oil cylinder 142 of the support mechanism 14 according to the data of the gyroscope so as to adjust the levelness of the opening and closing device.

[0067] In this embodiment, when the opening and closing device travels to the working position, the RFID reading module identifies the RFID tag on the concrete cover plate, and the controller monitors whether the opening and closing device has moved in place through the data of the RFID reading module.

[0068] It can be understood that the present utility model is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present utility model, various changes or equivalent replacements can be made to these features and embodiments. In addition, under the teaching of the present utility model, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present utility model.

Claims

1. An automatic opening and closing device for a concrete cover plate of a hydropower station storage gate tank, characterized in that: The invention comprises a large vehicle running mechanism (11), a small vehicle running mechanism (12) and a controller, wherein the large vehicle running mechanism (11) comprises a steering wheel (111) and a large vehicle frame (112), wherein the steering wheel (111) is mounted on the bottom of the large vehicle frame (112); the small vehicle running mechanism (12) comprises a small vehicle frame (121), wherein the bottom of the small vehicle frame (121) is connected to the top of the large vehicle frame (112) via a linear motion pair (15), and the small vehicle frame (121) is connected to a lifting and lowering device. A lifting mechanism (13) is provided at the bottom of the lifting mechanism (13), wherein a magnetic lifting device (132) for lifting a concrete cover plate is provided, and a supporting mechanism (14) for supporting the large frame (112) is provided at the bottom of the large frame (112); a magnetic navigation sensor is provided on the steering wheel (111), and the controller is respectively connected to the steering wheel (111), the linear motion pair (15), the lifting mechanism (13), the magnetic lifting device (132) and the magnetic navigation sensor signal.

2. The automatic opening and closing device for the concrete cover of the storage gate tank of the hydropower station according to claim 1 is characterized in that: The lifting mechanism (13) comprises a lifting cylinder (131) and a fixed beam (133), and through holes are respectively provided on both sides of the trolley frame (121); the fixed beam (133) is connected to the top of the trolley frame (121); the top of the lifting cylinder (131) is connected to the fixed beam (133), and the bottom of the lifting cylinder (131) passes through the through hole of the trolley frame (121) and extends to the bottom to be connected to the magnetic sling (132).

3. The automatic opening and closing device for the concrete cover of the storage gate tank of the hydropower station according to claim 1 is characterized by: The support mechanism (14) comprises a guide beam (141) and a driving cylinder (142); the top and bottom of the driving cylinder (142) are respectively connected to the guide beam (141); the guide beam (141) at the top of the driving cylinder (142) is fixedly connected to the bottom of the large frame (112); four support mechanisms (14) are provided, and the support mechanisms (14) are respectively provided at the four corners of the bottom of the large frame (112); a gyroscope is also provided at the bottom of the large frame (112), and the gyroscope is connected to a controller signal.

4. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 1 is characterized in that: A visual sensor for monitoring the combination status of the magnetic hanger (132) and the concrete cover plate is arranged at the bottom of the trolley frame (121), and the visual sensor is connected to the controller signal.

5. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 1 is characterized in that: A plurality of laser radar sensors are respectively arranged in the front and rear directions of travel of the steering wheel (111); the laser radar sensors are fixedly connected to the steering wheel (111) via a bracket; the laser radar sensors and the steering wheel (111) turn synchronously; the laser radar sensors illuminate different distances in the direction of travel of the steering wheel (111); and the laser radar sensors are connected to controller signals.

6. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 5 is characterized in that: More than three laser radar sensors are respectively arranged in the front and rear directions of travel of the steering wheel (111); at least one laser radar sensor illuminates a distance of more than 300 mm in front of the steering wheel (111) in the travel direction; at least one laser radar sensor illuminates a distance of 150-250 mm in front of the steering wheel (111) in the travel direction; and at least one laser radar sensor illuminates a distance of 50-100 mm in front of the steering wheel (111) in the travel direction.

7. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 1 is characterized by: The steering wheel (111) is also provided with a suspension system, the suspension system comprising a shock absorbing spring and a guide column, the guide column being arranged in the middle of the shock absorbing spring, and the top and bottom of the suspension system being connected to the vehicle frame and the steering wheel (111) respectively via flanges.

8. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 1 is characterized in that: The linear motion pair (15) comprises a gear (151), a rack (152) and a driving device, wherein the rack (152) is arranged on the top of the large frame (112), the gear (151) is rotatably connected to the bottom of the small frame (121), and the driving device comprises a driving servo motor (153) and a vertical axis reducer (154), the output shaft of the driving servo motor (153) is transmission-connected to the vertical axis reducer (154), the output end of the vertical axis reducer (154) is transmission-connected to the gear (151), and the driving servo motor (153) is signal-connected to a controller.

9. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 2 is characterized in that: The fixed beam (133) is rotatably connected to the trolley frame (121) via a slewing mechanism (134); electric push rods I (137) are respectively provided at both ends of the fixed beam (133); the electric push rods I (137) are arranged opposite to each other; the two ends of the electric push rods I (137) are respectively hinged to the trolley frame (121) and the side of the fixed beam (133); and the electric push rods I (137) are connected to a controller signal.

10. The automatic opening and closing device for the concrete cover of the storage gate tank of a hydropower station according to claim 9 is characterized in that: The fixed beam (133) comprises a rotating beam (135) and a sliding beam (136); the rotating beam (135) is rotationally connected to the trolley frame (121) via a rotating mechanism (134); the bottom of the sliding beam (136) is slidingly connected to the top of the rotating beam (135); electric push rods II (138) are respectively provided at both ends of the trolley frame (121); the two ends of the electric push rods II (138) are respectively hinged to the trolley frame (121) and the end faces of the fixed beam (133); and the electric push rods II (138) are signal-connected to a controller.

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