Intelligent separation type cable carrier crane and control method

Abstract

The application provides a kind of intelligent separation type cable crane and hoisting method, walking truss is independently arranged on each main cable, a plurality of hydraulic guide devices and a plurality of locking devices are arranged on the walking truss; the hydraulic guide device is used to guide the walking truss to walk along the main cable, and the locking device is used to lock the position of the walking truss on the main cable; the traction device is connected with the walking truss, and is used to pull the walking truss to walk; the portal type bearing truss is hinged with the walking truss, an operating platform is arranged on the portal type bearing truss, and a horizontal adjustment hydraulic cylinder is arranged between the portal type bearing truss and the walking truss; the sheave block of the main hoisting system is temporarily arranged on the portal type bearing truss; a temporary cable clamp is further arranged; during hoisting construction, the temporary cable clamp is fixedly connected with the main cable, the bottom of the temporary cable clamp is connected with the sheave block of the main hoisting system; the lifting winch device is arranged on the tower column, and the lifting steel wire rope is connected with the sheave block. The application reduces the weight of the cable crane and improves the intelligent level.

Description

Technical Field

[0001] This invention relates to the field of bridge deck construction equipment, and in particular to an intelligent detachable cable-mounted crane and its control method. Background Technology

[0002] The common method for installing main bridge segments of large suspension bridges is vertical lifting using cable-mounted cranes. This involves moving the cable-mounted crane along the main cable and vertically lifting it using a lifting mechanism to install main bridge segments at different locations. This method has advantages such as simple structure and low cost. However, for suspension bridges with significant spatial effects on the main cable, such as a 1m spacing between main cables at the tower top and a 29.8m spacing between main cables at mid-span, the large differences in lateral spacing of the main cables at different locations will affect the position of the main girder lifting points and the lateral deflection angle of the lifting wire ropes. Conventional cable-mounted cranes with equal spacing are insufficient to meet these requirements. Therefore, the installation of main cables for suspension bridges with significant spatial effects presents challenges such as adapting to changes in the lateral spacing of the main cables and lifting points. Cable-mounted cranes, as a commonly used construction equipment for the erection of main girder of suspension bridges, have been applied in numerous projects. However, for the erection of main girder of spatial cable suspension bridges, traditional cable-mounted cranes with fixed lateral spacing are no longer sufficient to meet the construction requirements. The unconventional inverted beam lifting method, due to its complex construction procedures and efficiency constraints, cannot be universally applied. Common problems encountered during its use include: 1. The heavy weight of the cable-mounted crane limits the lifting capacity; 2. The excessive weight of the lifting equipment also limits the lifting capacity; 3. The operation of moving over permanent cable clamps is cumbersome and poses safety concerns; 4. If the rigid connection between two cable-mounted cranes is removed, the control of synchronous movement and lifting becomes difficult; 5. Extensive manual labor at height, especially the operation of tightening numerous bolts, poses significant construction risks; 6. The gradually changing spacing between the main cables further increases the difficulty of lifting steel beam segments, and the active cross bracing between the main cables interferes with the movement of the cable-mounted crane. Removing the active cross bracing compromises the alignment of the main cables. CN110040638A describes a cable-mounted crane device and installation method for installing the stiffening beam of a suspension bridge, which suffers from the problems of heavy cable-mounted crane weight and low safety. CN112854012A describes a cable-mounted crane for a four-main-cable suspension bridge, where all winches are mounted on the crane itself, resulting in significant weight. Furthermore, the aforementioned solutions cannot meet the construction requirements for main cables with varying spacing. The purpose of this invention is to overcome these shortcomings by providing a simple, easy-to-install, and adaptable detachable self-propelled cable-mounted crane that can accommodate different main beam lifting points and lateral cable spacing. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an intelligent split-type cable-mounted crane and lifting method, which can adapt to the main cable structure with variable spacing while ensuring construction efficiency and convenience. It can reduce the self-weight of the cable-mounted crane, and has a high degree of intelligence, is convenient and safe to operate, reduces manual high-altitude operations, and is more convenient to operate over permanent cable clamps.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: an intelligent split-type cable crane, the cable crane including a traveling and positioning device, wherein the traveling truss is independently set on each main cable, and the traveling truss is provided with multiple hydraulic guiding devices and multiple locking devices; The hydraulic guiding device is used to guide the traveling truss along the main cable, and the locking device is used to lock the position of the traveling truss on the main cable; It is also equipped with a traction device, which is connected to the traveling truss and used to traction the traveling truss to move. The gantry-type load-bearing truss is hinged to the traveling truss. An operating platform is provided on the gantry-type load-bearing truss, and a horizontal adjustment hydraulic cylinder is provided between the gantry-type load-bearing truss and the traveling truss. The pulley block of the main lifting system is temporarily set on the gantry-type load-bearing truss and moves with the gantry-type load-bearing truss; Temporary cable clamps are also provided. During lifting operations, the temporary cable clamps are fixedly connected to the main cable, and the bottom of the temporary cable clamps is connected to the pulley block of the main lifting system. The hoisting winch of the main hoisting system is installed on the tower column, and the hoisting wire rope of the hoisting winch is connected to the pulley block.

[0005] In the preferred embodiment, multiple hydraulic guiding devices are arranged along the length of the traveling truss. The guide U-frame of the hydraulic guiding devices is set above the main cable. Vertical hydraulic guiding legs and two horizontal mechanical guiding legs are connected to the guide U-frame. The vertical hydraulic guiding legs are set above the main cable, and the two horizontal mechanical guiding legs are set on both sides of the main cable. Guide wheels are provided at the ends of the vertical hydraulic guiding legs and the two horizontal mechanical guiding legs, and the guide wheels are in contact with the main cable.

[0006] In the preferred embodiment, multiple locking devices are arranged along the length of the traveling truss. The locking U-frame of the locking device is located above the main cable. One vertical locking leg and two horizontal locking legs are connected to the locking U-frame. The ends of the vertical locking leg and the horizontal locking leg are provided with locking recesses. The grooves of the locking recesses are provided with friction layers. The locking recesses are in contact with the main cable.

[0007] In the preferred embodiment, the temporary cable clamp has the following structure: the two sides of the cable clamp seat are hinged to the cable clamp arm, a cable clamp cylinder is provided between the cable clamp arm and the cable clamp seat, and an extension is provided at the bottom of the cable clamp arm. The extension is used to fasten the temporary cable clamp and is also used to connect with the lifting pulley block of the main lifting system. A cable clamp top friction plate is provided at the bottom of the cable clamp seat, and a cable clamp side friction plate is provided on the inner side of the cable clamp arm.

[0008] In a preferred embodiment, the pulley system of the main lifting system includes a fixed lifting pulley group and a movable lifting pulley group, wherein the fixed lifting pulley group is used for fixed connection with the temporary cable clamp; The lifting pulley block is used to connect the lifting equipment; The tower column is also equipped with a lifting guide wheel, and the lifting winch device is located near the bottom of the tower column. The lifting wire rope passes around the lifting guide wheel and then passes through the lifting fixed pulley group, and then winds around the lifting moving pulley group and the lifting fixed pulley group.

[0009] In a preferred embodiment, there are at least two main cables, with an angle sensor installed on the lifting guide wheel or a linear velocity sensor installed near the lifting wire rope. Both the angle sensor and the linear velocity sensor are used to detect the linear velocity of the lifting wire rope to ensure synchronous lifting of multiple cable-mounted cranes.

[0010] In the preferred embodiment, the lifting pulley block of the main lifting system is connected to the lifting device. The lifting device is structured such that the first lifting beam is connected to the second lifting beam at the top position near both ends via sliding supports. The position of the second lifting beam can be adjusted within the range of the lifting beam adjustment section. Connecting beams are provided at both ends of the second lifting beam, and multiple connecting parts are provided at the bottom of the connecting beams. The connecting parts are used to connect with the steel beam segments. A lifting device support is provided near the middle of the second lifting beam. The lifting device support is slidably connected to the second lifting beam. An adjusting rod is also provided between the lifting device support and the second lifting beam to adjust the position of the lifting device support. A level is installed on the second lifting beam to detect the levelness of the second lifting beam, thereby adjusting the position of the lifting device support by adjusting the tie rod.

[0011] In the preferred embodiment, active cross bracing is provided between the main cables, so that the main cables are not evenly spaced along the length direction, with the spacing between the main cables closer to the tower being smaller and the spacing between the main cables farther away from the tower gradually increasing. A laser synchronization sensor is installed on the cable-mounted crane, facing another cable-mounted crane. The structure of the laser synchronization sensor is as follows: a laser scanning sensor and an arc-shaped target plate are installed on the synchronization detection base. The arc of the arc-shaped target plate is the same as the horizontal projection arc of the main cable. The laser beam emitted by the laser scanning sensor is a line scanning laser beam.

[0012] A lifting method using the above-mentioned intelligent split-type cable crane is characterized by including the following steps: S1. After the main cable is erected, active cross braces are installed, and the length of the active cross braces between the main cables is adjusted so that the main cable profile meets the design requirements. S2. Install the steel beam segment at the base of the tower column, arrange the lifting winch device at the base of the tower column, and install the lifting guide wheel on the tower column; Using an overhead crane, temporary cable clamps are installed on the main cable, and then the fixed and movable lifting pulley blocks are installed. The lifting wire rope passes around the lifting guide wheel and enters the fixed and movable lifting pulley blocks. Lifting pulley block and connecting to lifting equipment; S3. Install the suspension cables at the mid-span of the bridge, and install the traveling and positioning device, gantry-type load-bearing truss, and operating platform of the cable-mounted crane; Ensure that the hydraulic guiding and locking devices in the walking and positioning device are reliably fixed to the main cable; The cable-mounted crane lifts the steel beam segment at the mid-span of the bridge, connects the sling to the steel beam segment, and installs temporary balance steel wire ropes at both ends of the steel beam segment to ensure the stability of the steel beam segment; S4. Cable-driven crane assists in unloading by disconnecting the fixed lifting pulley block from the temporary cable clamp and connecting the temporary cable clamp, fixed lifting pulley block, moving lifting pulley block, and lifting device to the gantry-type load-bearing truss. S5. The traction device pulls the cable-carrying crane to the position of the next steel beam segment. During the movement, when it is necessary to pass through the cable clamp, the hydraulic guide device opens the cable clamp in sequence. After passing through the cable clamp, the hydraulic guide device presses the main cable. After reaching the preset position, the locking device locks the main cable. S6. Close the temporary cable clamp, connect the lifting fixed pulley block, the lifting movable pulley block and the lifting device to the temporary cable clamp, and the cable crane symmetrically lifts the steel beam segments, connects the steel beam segments to the lifting cables, and connects them to the previously installed steel beam segments; S7. Repeat steps S4 to S6 in sequence to join the second steel beam segment near the base of the tower column, thus completing the hoisting of all steel beam segments of the suspension bridge.

[0013] In the preferred embodiment, proximity sensors are installed on the gantry-type load-bearing truss, the walking and positioning device, or the operating platform. When walking, if the device approaches the active cross brace, the next active cross brace is removed in advance. A level is installed on the operating platform, and the extension and retraction of the leveling hydraulic cylinder is adjusted according to the data fed back by the level. During the traction of the cable-mounted crane, the laser scanning sensor emits a signal to detect whether the other cable-mounted crane is synchronized. The signal received by the laser scanning sensor is divided into three levels according to the brightness intensity. The first level corresponds to the signal emitted by the laser scanning sensor, and the second level corresponds to the signal reflected by the arc-shaped target plate. Only the signals of the first and second levels are used as the synchronization signals of the cable-mounted crane. The traction of the cable-mounted crane adopts a master-slave mode, with one cable-mounted crane as the master and the other cable-mounted crane as the assistant to follow and align. Before lifting, the lifting equipment connects the steel beam segments. The data from the level gauge on the second lifting beam is used as the adjustment feedback to adjust the adjusting rod to make the second lifting beam level. During lifting, the linear speed of the lifting wire rope is detected by an angle sensor or a linear speed sensor. The two cable cranes adopt a master-slave control mode, with the lifting speed of one cable crane as the master and the lifting speed of the other cable crane as the slave. If the difference between the lifting speeds of the two cable cranes exceeds the preset value, the master cable crane will slow down and wait.

[0014] The intelligent detachable cable-mounted crane and lifting method provided by this invention have the following technical advantages compared with the prior art: 1. This invention adopts a separate cable-mounted crane structure, with no rigid connection between the cable-mounted cranes on both sides, which can greatly reduce the weight and increase the lifting capacity. Moreover, due to the reduced weight, walking and crossing permanent cable clamps are more convenient and safer.

[0015] 2. The gantry-type load-bearing truss of the present invention adopts a single-hinge forced balance support method, which can keep the operating platform in a horizontal state at all times. The horizontal adjustment hydraulic cylinder, in conjunction with the level on the gantry-type load-bearing truss, can further ensure the level of the operating platform and suppress tilting and swaying caused by wind, imbalance or vibration.

[0016] 3. The walking and positioning device of the present invention, through the use of multiple hydraulic guiding devices and locking devices, significantly improves the safety of the cable-mounted crane during movement and also enhances the safety of crossing permanent cable clamps. The laser synchronization sensor enables the cable-mounted crane to maintain synchronization during operation, improving obstacle avoidance reliability and safety during lifting operations.

[0017] 4. The temporary cable clamp of the present invention is opened and closed by a hydraulic cylinder, which reduces the number of tightening bolts, and the automatic opening and closing scheme also reduces high-altitude operations.

[0018] 5. The lifting device of the present invention adopts a lightweight design, which greatly reduces the weight of the lifting device. When used with a level, it can be easily adjusted in posture during the lifting process.

[0019] 6. The main lifting system of this invention mounts the lifting winch on the tower column, further reducing the self-weight of the cable-mounted crane. The installed linear velocity sensor ensures that the two cable-mounted cranes lift synchronously, improving safety. 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 front view schematic diagram of the overall structure of the present invention during the installation process of bridge steel beam segments.

[0021] Figure 2 This is a top view schematic diagram of the overall structure of the present invention during the installation process of bridge steel beam segments.

[0022] Figure 3 This is a schematic diagram of the overall structure of the cable-mounted crane in this invention.

[0023] Figure 4 This is a schematic diagram of the walking and positioning device in this invention.

[0024] Figure 5 This is a schematic diagram of the hydraulic guiding device in this invention.

[0025] Figure 6 This is a schematic diagram of the locking device in this invention.

[0026] Figure 7 This is a cross-sectional schematic diagram of the operating platform in this invention.

[0027] Figure 8 This is a structural schematic diagram of the portal-type load-bearing truss in this invention.

[0028] Figure 9 This is a schematic diagram of the lifting fixed pulley group and the lifting movable pulley group in this invention.

[0029] Figure 10 This is a front view of the lifting device in this invention.

[0030] Figure 11 This is a side view of the lifting device in this invention.

[0031] Figure 12 This is a schematic diagram of the temporary cable clamp passing through the cable clamp in this invention.

[0032] Figure 13 This is a schematic diagram of the structure when the lifting device is connected to the steel beam segment in this invention.

[0033] Figure 14 This is a schematic diagram of the active cross brace in this invention.

[0034] Figure 15 This is a schematic diagram of the process of sequentially hoisting steel beam segments in this invention.

[0035] Figure 16 This is a schematic diagram of the hoisting of the cable-mounted crane in this invention when the main cable is far away.

[0036] Figure 17 This is a schematic diagram of the hoisting of the cable-mounted crane in this invention when the main cables are relatively close together.

[0037] Figure 18 This is a schematic diagram of the hoisting of the cable-mounted crane when the main cable is closest to the main cable in this invention.

[0038] Figure 19This is a schematic diagram of the specific structure of the temporary cable clamp in this invention.

[0039] Figure 20 This is a schematic diagram of the cable-mounted crane actively avoiding active cross bracing during its movement, as described in this invention.

[0040] Figure 21 This is a schematic diagram of the laser synchronization sensor for the cable-mounted crane in this invention.

[0041] In the diagram: Traveling and positioning device 1, clamp 101, through-hole jack 102, traveling truss 103, hydraulic guiding device 104, vertical hydraulic guide leg 1041, horizontal mechanical guide leg 1042, guide U-frame 1043, guide protection device 1044, guide wheel 1045, locking device 105, vertical locking leg 1051, horizontal locking leg 1052, locking U-frame 1053, locking protection device 1054, locking concave head 1055, traction steel strand 106, traveling hinge seat 107, gantry-type load-bearing truss 2, load-bearing hinge seat 201, horizontal adjustment hydraulic cylinder 202, main lifting system 3, lifting fixed pulley block 301, lifting moving pulley block 302, lifting guide wheel 303, lifting winch device 304, temporary cable clamp 305, cable... 3051 clamp seat, 3052 cable clamp cylinder, 3053 cable clamp top friction plate, 3054 cable clamp side friction plate, 3055 cable clamp arm, 3056 extension, 306 temporary connecting rod, 307 lifting wire rope, 4 lifting device, 401 first lifting beam, 402 sliding support, 403 lifting device support, 404 adjusting rod, 405 lifting beam adjusting section, 406 connecting part, 407 connecting beam, 408 second lifting beam, 5 operating platform, 501 attitude adjustment cylinder, 6 main cable, 7 attitude sensor, 8 level, 9 active cross brace, 10 steel beam segment, 11 proximity sensor, 12 laser synchronization sensor, 121 synchronization detection seat, 122 laser scanning sensor, 123 arc-shaped target plate, 13 linear velocity sensor, 14 tower column, 100 cable-mounted crane. Detailed Implementation

[0042] Example 1: like Figures 1-3 In this invention, an intelligent, separate cable-mounted crane 100 is disclosed. The cable-mounted crane 100 includes a traveling and positioning device 1, wherein a traveling truss 103 is independently mounted on each main cable 6, and the traveling truss 103 is equipped with multiple hydraulic guiding devices 104 and multiple locking devices 105. Preferably, in this example, there are two main cables 6, and multiple active cross braces 9 are provided between the main cables 6. The active cross braces 9 spread the main cables 6 into the following configuration: Figure 2 The curve shown, described as an arc in this example for ease of reference, refers to the fitted arc. The actual main cable 6 is a multi-curvature curve, appearing as a curve in both its horizontal and vertical projections. This structure makes the installation method using a dual-cable crane (100mm) very difficult.

[0043] Hydraulic guiding device 104 is used to guide the traveling truss 103 to travel along the main cable 6, and locking device 105 is used to lock the position of the traveling truss 103 on the main cable 6. like Figure 4 The system also includes a traction device, which is connected to the traveling truss 103 and used to move the traveling truss 103; for example... Figure 4 As shown, the traction device includes: a clamp 101 fixedly connected to the main cable 6, a through jack 102 connected to the traveling truss 103, and a traction steel strand 106 with one end connected to the clamp 101 and the other end passing through the through jack 102. The traveling truss 103 and the entire gantry-type load-bearing truss 2 are tractioned to travel along the main cable 6 by moving the through jack 102 in a step-by-step manner.

[0044] The gantry-type load-bearing truss 2 is hinged to the traveling truss 103. Preferably, a traveling hinge seat 107 is provided at the top of the traveling truss 103, and a load-bearing hinge seat 201 is provided at the bottom of the gantry-type load-bearing truss 2. The traveling hinge seat 107 and the load-bearing hinge seat 201 are hinged to achieve a self-balancing structure. An operating platform 5 is provided on the gantry-type load-bearing truss 2, and a horizontal adjustment hydraulic cylinder 202 is provided between the gantry-type load-bearing truss 2 and the traveling truss 103. The horizontal adjustment hydraulic cylinder 202 is used to forcibly adjust the gantry-type load-bearing truss 2 to be horizontal. This is because the projection of the main cable 6 in the vertical plane is also a curve, in order to ensure that the operating platform 5 on the gantry-type load-bearing truss 2 is in a horizontal state.

[0045] The pulley block of the main lifting system 3 is temporarily set on the gantry-type load-bearing truss 2 and moves with the gantry-type load-bearing truss 2. Temporary cable clamps 305 are also provided on the gantry-type load-bearing truss 2. During the lifting operation, the temporary cable clamp 305 is fixedly connected to the main cable 6, and the bottom of the temporary cable clamp 305 is connected to the pulley block of the main lifting system 3. The hoisting winch 304 of the main hoisting system 3 is mounted on the tower column 14, and the hoisting wire rope 303 of the hoisting winch 304 is connected to the pulley block. This structure significantly reduces the self-weight of the cable-mounted crane 100, and through an intelligent control scheme, solves the problem of asynchronous operation caused by elastic deformation due to the length of the hoisting wire rope 307.

[0046] Preferred solutions include Figure 5In this configuration, multiple hydraulic guiding devices 104 are arranged along the length of the traveling truss 103. The guide U-frame 1043 of the hydraulic guiding devices 104 is positioned above the main cable 6. Vertical hydraulic guide legs 1041 and two horizontal mechanical guide legs 1042 are connected to the guide U-frame 1043. The vertical hydraulic guide legs 1041 are positioned above the main cable 6 and are equipped with hydraulic cylinders for driving lifting. The two horizontal mechanical guide legs 1042 are respectively positioned on both sides of the main cable 6. Preferably, the horizontal mechanical guide legs 1042 are equipped with threaded mechanisms for adjusting extension and retraction. Guide wheels 1045 are provided at the ends of the vertical hydraulic guide legs 1041 and the two horizontal mechanical guide legs 1042, and the guide wheels 1045 contact the main cable 6. Preferably, the guide wheel 1045 has a structure with a large diameter at both ends and a small diameter in the middle to better fit the surface of the main cable 6. However, since the linear velocity of the outer wall of this structure is different at different positions along the axis, the guide wheel 1045 is preferably made of low-friction polytetrafluoroethylene, polyurethane, or nylon. A rotatable pin is also provided at the connection point between the guide wheel 1045 and the transverse mechanical guide leg 1042 to allow the guide wheel 1045 to extend and retract without rotating around the axis of the transverse mechanical guide leg 1042.

[0047] Preferred solutions include Figure 6 In this structure, multiple locking devices 105 are arranged along the length of the traveling truss 103. The locking U-frame 1053 of each locking device 105 is positioned above the main cable 6. One vertical locking leg 1051 and two horizontal locking legs 1052 are connected to the locking U-frame 1053. Locking recesses 1055 are provided at the free ends of the vertical locking leg 1051 and the horizontal locking legs 1052. A friction layer is provided within the groove of the locking recess 1055, which contacts the main cable 6. Both the vertical locking leg 1051 and the horizontal locking leg 1052 utilize threaded mechanisms for extension and retraction. A rotatable pin is also provided at the connection point between the locking recess 1055 and the vertical locking leg 1051 and the horizontal locking leg 1052, allowing the locking recess 1055 to extend and retract without rotating around the axes of the vertical locking leg 1051 and the horizontal locking leg 1052.

[0048] Preferred solutions include Figure 12 In the middle, the structure of the temporary cable clamp 305 is as follows: the two sides of the cable clamp seat 3051 are hinged to the cable clamp arm 3055, the cable clamp arm 3055 and the cable clamp seat 3051 are provided with a cable clamp cylinder 3052, and the bottom of the cable clamp arm 3055 is provided with an extension 3056. The extension 3056 is used to fasten the temporary cable clamp 305 and is also used to connect with the lifting fixed pulley group 301 of the main lifting system 3. A cable clamp top friction plate 3053 is provided at the bottom of the cable clamp seat 3051, and a cable clamp side friction plate 3054 is provided on the inner side of the cable clamp arm 3055. Existing temporary cable clamps 13 typically employ a bolt array, requiring approximately 40 nuts to be tightened at height for each clamp, necessitating two-handed operation and posing significant safety risks. With the aforementioned structure, only bolts are needed at the extension 3056 before installing the main lifting system 3, resulting in more convenient spatial operation and reducing the number of nuts required for tightening by at least 75%. Automatic fixing or loosening is achieved via the cable clamp cylinder 132, eliminating the need for manual hammering to loosen the clamp, making operation extremely convenient.

[0049] Preferred solutions include Figure 1 , 3 In 8-9, the pulley block of the main lifting system 3 includes a fixed lifting pulley block 301 and a movable lifting pulley block 302. The fixed lifting pulley block 301 is used to be fixedly connected to the temporary cable clamp 305. The lifting pulley block 302 is used to connect the lifting device 4; A lifting guide wheel 303 is also provided on the tower column 14. The lifting winch device 304 is located near the bottom of the tower column 14. The lifting wire rope 307 passes around the lifting guide wheel 303 and enters through the lifting fixed pulley group 301, and then winds around the lifting movable pulley group 302 and the lifting fixed pulley group 301.

[0050] Preferred solutions include Figure 1 , 13 In this invention, there are at least two main cables 6, and an angle sensor (not shown in the figure) is provided on the lifting guide wheel 303. Alternatively, a linear velocity sensor 13 is provided near the lifting wire rope 307. Both the angle sensor and the linear velocity sensor 13 are used to detect the linear velocity of the lifting wire rope 307 to ensure synchronous lifting of multiple cable-mounted cranes 100. This invention significantly reduces the self-weight of the cable-mounted crane 100, but also extends the length of the lifting wire rope 307. The elastic deformation of the lifting wire rope 307 makes it difficult to control the lifting synchronization between two cable-mounted cranes 100. The angle sensor and the linear velocity sensor 13 can overcome this problem. Preferably, the linear velocity sensor 13 is placed in a position where the lifting wire rope 307 is less affected by elastic deformation, such as the gantry-type load-bearing truss 2, the lifting pulley block 301, or the operating platform 5, so as to more accurately monitor the linear velocity of the lifting wire rope 307 and thus accurately control the synchronous lifting of the two cable-mounted cranes 100. Preferably, the angle sensor is an absolute encoder. The linear velocity sensor 13 is a Hall sensor. The Hall sensor detects the displacement of the lifting wire rope 307 based on the pitch of the lifting wire rope 307, and then combines the time parameters to obtain the linear velocity of the lifting wire rope 307.

[0051] Preferred solutions include Figure 13In the middle, the lifting pulley block 302 of the main lifting system 3 is connected to the lifting device 4. The structure of the lifting device 4 is as follows: Figures 10-11 In the process, the first lifting beam 401 is connected to the second lifting beam 408 near its top ends via sliding supports 402. The second lifting beam 408 can be adjusted within the range of the lifting beam adjustment section 405. A screw is sleeved at the bottom of the sliding support 402. After the sliding support 402 slides into place, the nuts located at both ends of the sliding support 402 on the screw are tightened. The second lifting beam 408 is perpendicular to the first lifting beam 401. Figure 20 As shown in the image.

[0052] Connecting beams 407 are provided at both ends of the second lifting beam 408. Multiple connecting parts 406 are provided at the bottom of the connecting beam 407. The connecting parts 406 are used to connect with the steel beam segment 10. The connecting beam 407 is perpendicular to the second lifting beam 408.

[0053] like Figure 11 In the second lifting beam 408, a lifting device support 403 is provided near the center. The lifting device support 403 is slidably connected to the second lifting beam 408. An adjusting rod 404 is also provided between the lifting device support 403 and the second lifting beam 408 for adjusting the position of the lifting device support 403. Preferably, the adjusting rod 404 is a screw jack, which can realize online adjustment of the posture.

[0054] A level 8 is provided on the second lifting beam 408. Preferably, the level 8 is an inclination sensor, such as a gyroscope, used to detect the levelness of the second lifting beam 408, thereby adjusting the position of the lifting support 403 by adjusting the tie rod 404.

[0055] In the preferred embodiment, active cross bracing 9 is provided between the main cables 6, so that the main cables 6 are not equidistant along the length direction, with the spacing between the main cables 6 closer to the tower column 14 being smaller, and the spacing between the main cables 6 further away from the tower column 14 gradually increasing. To ensure the safe movement of the cable-mounted crane 100, proximity sensors 11 are installed on the gantry-type load-bearing truss 2, the travel and positioning device 1, or the operating platform 5. During movement, when the crane approaches the active cross brace 9, it stops at a preset position based on the data fed back by the proximity sensor 11, and the next active cross brace 9 is removed in advance. Figure 13 , 14 As shown, preferably, the proximity sensor 11 is an ultrasonic ranging sensor.

[0056] To resolve the synchronization issue of the two cable-mounted cranes 100, it is necessary to check whether their positions on the main cable 6 correspond. At high altitudes, the impact of wind and vibration makes this inspection extremely difficult. Using a total station for inspection is both inefficient and inconvenient. In this example, if... Figure 20 , 21As shown, a laser synchronization sensor 12 facing another cable-mounted crane 100 is provided on the cable-mounted crane 100. The structure of the laser synchronization sensor 12 is as follows: a laser scanning sensor 122 and an arc-shaped target plate 123 are provided on the synchronization detection base 121. The arc of the arc-shaped target plate 123 is the same as the horizontal projection arc of the main cable 6. The laser beam emitted by the laser scanning sensor 122 is a line scanning laser beam. The challenge in this example lies in the fact that the cable-mounted cranes 100 are tilted relative to each other, and this tilt is variable. This makes the laser beam reciprocation scheme quite difficult. From an equipment perspective, it is necessary to ensure that the emitted laser can be reflected back to its original position at least at some point. To solve this problem, the synchronization detection base 121 is first provided with a basic tilt to roughly align the laser synchronization sensors 12 on the two cable-mounted cranes 100. An arc-shaped target plate 123 is set with an arc approximately the same as the horizontal projection arc of the main cable 6, ensuring that the laser can be reflected back to its original position at some point. That is, in this example, the laser synchronization sensor 12 can achieve laser beam reciprocation positioning and use the reflection of the arc-shaped target plate 123 to assist in positioning. More preferably, the arc-shaped target plate 123 is set as multiple arrays of reflective planes, and the combination of the various reflective planes forms an approximate arc, that is, a variable curvature surface. This variable curvature surface is approximately the same as the variable curvature curve of the horizontal projection of the main cable 6. Therefore, as long as the cable-mounted crane 100 is located on the main cable 6, at least one reflecting plane will form a vertical reflecting structure with the opposing laser synchronization sensor 12. More preferably, the laser beam emitted by the laser scanning sensor 122 is a cross-shaped line scanning laser beam, and the receiver receiving the reflected laser beam is equipped with a convex lens. Within the range of the convex lens, the received laser beam is focused onto the photoelectric sensor. The laser synchronization sensor 12 is configured as a software lock for the lifting operation steps; that is, the control system will only proceed to the next operation step when the laser synchronization sensor 12 receives a signal, including a reflected laser beam signal or a specific pulse signal composed of the reflected laser beam.

[0057] Example 2: like Figure 15 As shown, a lifting method using the aforementioned intelligent split-type cable crane includes the following steps: S1. After the main cable 6 is erected, set up active cross braces 9 and adjust the length of the active cross braces 9 between the main cables 6 so that the shape of the main cable 6 meets the design requirements. S2. Optionally, the steel beam segment 10 at the base of the tower column 14 is installed by a floating crane, a lifting winch device 304 is arranged at the base of the tower column 14, and a lifting guide wheel 303 is set on the tower column 14. Using a crane, a temporary cable clamp 305 is installed on the main cable 6, and then the fixed lifting pulley block 301 and the movable lifting pulley block 302 are installed. The lifting wire rope 307 passes around the lifting guide wheel 303 and enters the fixed lifting pulley block 301 and the movable lifting pulley block 302. The movable pulley block 302 is connected to the lifting device 4; S3. Install the suspension cables at the mid-span of the bridge, and install the traveling and positioning device 1, the gantry-type load-bearing truss 2, and the operating platform 5 for the cable-mounted crane 100. The hydraulic guiding device 104 and locking device 105 in the walking and positioning device 1 are reliably fixed to the main cable 6; that is, the vertical hydraulic guiding leg 1041 and the horizontal mechanical guiding leg 1042 of the hydraulic guiding device 104 extend to press the main cable 6; the vertical locking leg 1051 and the horizontal locking leg 1052 of the locking device 105 extend to press the main cable 6. The cable-mounted crane 100 lifts the steel beam segment 10 at the mid-span of the bridge, connects the sling to the steel beam segment 10, and installs temporary balance steel wire ropes at both ends of the steel beam segment 10 to ensure the stability of the steel beam segment 10; S4. The cable-mounted crane 100 assists in unloading, disconnecting the connection between the lifting fixed pulley block 301 and the temporary cable clamp 305, and connecting the temporary cable clamp 305, the lifting fixed pulley block 301, the lifting movable pulley block 302, and the lifting device 4 to the gantry-type load-bearing truss 2; (e.g.) Figure 12 In the middle, the top of the temporary cable clamp 305 is connected to the portal frame load-bearing truss 2 via a temporary connecting rod 306; S5. The traction device of the walking and positioning device 1 pulls the cable-carrying crane 100 to the position corresponding to the next steel beam segment 10. During the walking process, the locking device 105 is in the open state. When it is necessary to pass through the cable clamp, the hydraulic guide device 104 opens in sequence to pass through the cable clamp. After passing through the cable clamp, the hydraulic guide device 104 presses the main cable 6 in sequence. After reaching the preset position, the locking device 105 locks the main cable 6. S6. Close the temporary cable clamp 305, connect the lifting fixed pulley block 301, the lifting movable pulley block 302 and the lifting device 4 to the temporary cable clamp 305, and the cable crane 100 symmetrically lifts the steel beam segment 10, connects the steel beam segment 10 to the sling, and connects it to the previously installed steel beam segment 10. S7. The first steel beam segment near the base of tower column 14 is hoisted using the swing method, and the second steel beam segment near the base of tower column 14 is designated as the closure segment. Steps S4 to S6 are repeated sequentially to close the second steel beam segment 10 near the base of tower column 14, thus completing the hoisting of all steel beam segments of the suspension bridge.

[0058] Preferred solutions include Figure 20In the process, proximity sensors 11 are installed on the gantry-type load-bearing truss 2, the walking and positioning device 1, or the operating platform 5. When walking, when the distance to the active cross brace 9 is no more than one steel beam segment 10, the next active cross brace 9 is removed in advance. A level 8 is installed on the operating platform 5. The leveling hydraulic cylinder 202 is adjusted to extend and retract based on the data fed back by the level 8, thereby forcibly ensuring that the operating platform 5 is in a level state. This prevents the operating platform 5 from tilting due to wind or uneven weight distribution of equipment or personnel.

[0059] During the traction of the cable-mounted crane 100, the laser scanning sensor 122 emits a signal to detect whether the other cable-mounted crane 100 is synchronized. The signal received by the laser scanning sensor 122 is divided into three levels according to brightness intensity. The first level corresponds to the signal emitted by the laser scanning sensor 122, and the second level corresponds to the signal reflected by the arc-shaped target plate 123. Only the signals of the first and second levels are used as the synchronization signals of the cable-mounted crane 100. The traction of the cable-mounted crane 100 adopts a master-slave mode, in which one cable-mounted crane 100 is the master and the other cable-mounted crane 100 is the assistant to follow and align. Since the reflectivity of the arc-shaped target plate 123 is high, preferably above 90%, the brightness of the light signals of the first and second levels is high. After converting the received light signals into digital signals, the first and second level signals can be easily identified by filtering by brightness value. This scheme ensures the synchronization of the two cable-mounted cranes 100 in a very simple and reliable way.

[0060] The lifting device 4 connects to the steel beam segment 10. Before lifting, the data of the level instrument 8 on the second lifting beam 408 is used as adjustment feedback to adjust the adjusting rod 404 so that the second lifting beam 408 is level. During lifting, the linear velocity of the lifting wire rope 307 is detected by an angle sensor or a linear velocity sensor 13. The two cable-mounted cranes 100 adopt a master-slave control mode, with the lifting speed of one cable-mounted crane 100 as the master and the lifting speed of the other cable-mounted crane 100 as the slave. If the difference in lifting speed between the two cable-mounted cranes 100 exceeds a preset value, the master cable-mounted crane 100 slows down and waits. In this example, it is preferable to use linear velocity sensors 13 installed on the gantry-type load-bearing truss 2, the lifting pulley block 301, and the operating platform 5 to detect the linear velocity of the lifting wire rope 307, so as to minimize the impact of the elastic deformation of the lifting wire rope 307.

[0061] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The embodiments and features described in these embodiments can be arbitrarily combined without conflict. 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. An intelligent, detachable cable-mounted crane, characterized in that: The cable-mounted crane (100) includes a traveling and positioning device (1), wherein a traveling truss (103) is independently set on each main cable (6), and multiple hydraulic guiding devices (104) and multiple locking devices (105) are provided on the traveling truss (103). A hydraulic guiding device (104) is used to guide the traveling truss (103) to travel along the main cable (6), and a locking device (105) is used to lock the position of the traveling truss (103) on the main cable (6); It is also equipped with a traction device, which is connected to the traveling truss (103) and used to traction the traveling truss (103) to travel; The gantry-type load-bearing truss (2) is hinged to the traveling truss (103). An operating platform (5) is provided on the gantry-type load-bearing truss (2). A horizontal adjustment hydraulic cylinder (202) is provided between the gantry-type load-bearing truss (2) and the traveling truss (103). The pulley block of the main lifting system (3) is temporarily set on the gantry-type load-bearing truss (2) and moves with the gantry-type load-bearing truss (2); A temporary cable clamp (305) is also provided. During the lifting operation, the temporary cable clamp (305) is fixedly connected to the main cable (6), and the bottom of the temporary cable clamp (305) is connected to the pulley block of the main lifting system (3). The hoisting winch (304) of the main hoisting system (3) is installed on the tower column (14), and the hoisting wire rope (307) of the hoisting winch (304) is connected to the pulley block; The structure of the temporary cable clamp (305) is as follows: the two sides of the cable clamp seat (3051) are hinged to the cable clamp arm (3055), the cable clamp arm (3055) and the cable clamp seat (3051) are provided with a cable clamp cylinder (3052), and the bottom of the cable clamp arm (3055) is provided with an extension (3056). The extension (3056) is used to fasten the temporary cable clamp (305) and is also used to connect with the lifting fixed pulley group (301) of the main lifting system (3). The main cable (6) consists of at least two cables. An angle sensor is provided on the lifting guide wheel (303), or a linear velocity sensor (13) is provided near the lifting wire rope (307). Both the angle sensor and the linear velocity sensor (13) are used to detect the linear velocity of the lifting wire rope (307) to ensure the synchronous lifting of multiple cable-mounted cranes (100). Active cross bracing (9) is provided between the main cables (6) so that the main cables (6) are not equidistant along the length direction. The spacing between the main cables (6) closer to the tower column (14) is smaller, and the spacing between the main cables (6) further away from the tower column (14) gradually increases. A laser synchronization sensor (12) is provided on the cable crane (100) and faces another cable crane (100).

2. The intelligent detachable cable-mounted crane according to claim 1, characterized in that: Multiple hydraulic guide devices (104) are arranged along the length of the traveling truss (103). The guide U-frame (1043) of the hydraulic guide device (104) is set above the main cable (6). The vertical hydraulic guide leg (1041) and two horizontal mechanical guide legs (1042) are connected to the guide U-frame (1043). The vertical hydraulic guide leg (1041) is set above the main cable (6), and the two horizontal mechanical guide legs (1042) are respectively set on both sides of the main cable (6). Guide wheels (1045) are provided at the ends of the vertical hydraulic guide leg (1041) and the two horizontal mechanical guide legs (1042). The guide wheels (1045) are in contact with the main cable (6).

3. The intelligent detachable cable-mounted crane according to claim 1, characterized in that: Multiple locking devices (105) are arranged along the length of the traveling truss (103). The locking U-frame (1053) of the locking device (105) is set above the main cable (6). A vertical locking leg (1051) and two horizontal locking legs (1052) are connected to the locking U-frame (1053). The ends of the vertical locking leg (1051) and the horizontal locking leg (1052) are provided with locking recesses (1055). A friction layer is provided in the groove of the locking recess (1055). The locking recess (1055) is in contact with the main cable (6).

4. The intelligent detachable cable-mounted crane according to claim 1, characterized in that: A cable clamp top friction plate (3053) is provided at the bottom of the cable clamp seat (3051), and a cable clamp side friction plate (3054) is provided on the inner side of the cable clamp arm (3055).

5. The intelligent split-type cable-mounted crane according to claim 1 or 4, characterized in that: the main... The pulley system (3) includes a fixed lifting pulley group (301) and a movable lifting pulley group (302). The fixed lifting pulley group (301) is used to be fixedly connected to the temporary cable clamp (305). The lifting pulley block (302) is used to connect the lifting device (4); A lifting guide wheel (303) is also provided on the tower column (14). The lifting winch device (304) is located near the bottom of the tower column (14). The lifting wire rope (307) passes around the lifting guide wheel (303) and enters through the lifting fixed pulley group (301), and then winds around the lifting moving pulley group (302) and the lifting fixed pulley group (301).

6. The intelligent split-type cable-mounted crane according to claim 1, characterized in that: the main... The lifting system (3) has a lifting pulley block (302) connected to the lifting device (4). The lifting device (4) has the following structure: the first lifting beam (401) is connected to the second lifting beam (408) at the top position near both ends through sliding supports (402). The second lifting beam (408) can be adjusted within the range of the lifting beam adjustment section (405). Connecting beams (407) are provided at both ends of the second lifting beam (408). Multiple connecting parts (406) are provided at the bottom of the connecting beams (407). The connecting parts (406) are used to connect with the steel beam segments (10). A lifting support (403) is provided near the middle of the second lifting beam (408). The lifting support (403) is slidably connected to the second lifting beam (408). An adjusting rod (404) is also provided between the lifting support (403) and the second lifting beam (408) for adjusting the position of the lifting support (403). A level (8) is provided on the second lifting beam (408) to detect the levelness of the second lifting beam (408), thereby adjusting the position of the lifting support (403) by adjusting the tie rod (404).

7. The intelligent detachable cable-mounted crane according to claim 1, characterized in that: The structure of the laser synchronization sensor (12) is as follows: a laser scanning sensor (122) and an arc-shaped target plate (123) are provided on the synchronization detection base (121). The arc of the arc-shaped target plate (123) is the same as the horizontal projection arc of the main cable (6). The laser beam emitted by the laser scanning sensor (122) is a line scanning laser beam.

8. A lifting method using the intelligent detachable cable crane according to any one of claims 1 to 7, characterized in that: Includes the following steps: S1. After the main cable (6) is erected, set up active cross bracing (9) and adjust the length of active cross bracing (9) between the main cables (6) so that the shape of the main cable (6) meets the design requirements. S2. Install steel beam segments (10) at the base of the tower column (14), arrange lifting winches (304) at the base of the tower column (14), and set lifting guide wheels (303) on the tower column (14). Using a crane, a temporary cable clamp (305) is installed on the main cable (6), and then a fixed lifting pulley block (301) and a movable lifting pulley block (302) are installed. The lifting wire rope (307) passes around the lifting guide wheel (303) and enters the fixed lifting pulley block (301) and the movable lifting pulley block (302). The lifting pulley block (302) is connected to the lifting device (4); S3. Install the suspension cables at the mid-span of the bridge, and install the walking and positioning device (1), gantry-type load-bearing truss (2) and operating platform (5) of the cable crane (100). The hydraulic guiding device (104) and locking device (105) in the walking and positioning device (1) are reliably fixed to the main cable (6); The cable crane (100) lifts the steel beam segment (10) at the mid-span of the bridge, connects the sling to the steel beam segment (10), and installs temporary balance steel wire ropes at both ends of the steel beam segment (10) to ensure the stability of the steel beam segment (10); S4. The cable-mounted crane (100) assists in unloading, disconnects the connection between the lifting fixed pulley block (301) and the temporary cable clamp (305), and connects the temporary cable clamp (305), the lifting fixed pulley block (301), the lifting movable pulley block (302) and the lifting device (4) to the gantry-type load-bearing truss (2). S5. The traction device pulls the cable-carrying crane (100) to the position of the next steel beam segment (10). During the journey, when it is necessary to pass through the cable clamp, the hydraulic guide device (104) opens the cable clamp in sequence. After passing through the cable clamp, the hydraulic guide device (104) presses the main cable (6) tightly. After reaching the preset position, the locking device (105) locks the main cable (6). S6. Close the temporary cable clamp (305), connect the lifting fixed pulley block (301), the lifting movable pulley block (302) and the lifting device (4) to the temporary cable clamp (305), and the cable crane (100) symmetrically lifts the steel beam segment (10), connects the steel beam segment (10) to the sling, and connects it to the previously installed steel beam segment (10); S7. Repeat steps S4 to S6 in sequence to close the second steel beam segment (10) near the root of the tower column (14) and complete the hoisting of the entire steel beam segment of the suspension bridge.

9. A lifting method using an intelligent split-type cable crane according to claim 8, characterized in that: in The gantry-type load-bearing truss (2), the walking and positioning device (1) or the operating platform (5) are equipped with proximity sensors (11). When walking, when approaching the active cross brace (9), the next active cross brace (9) is removed in advance. A level (8) is installed on the operating platform (5). The extension and retraction of the leveling hydraulic cylinder (202) is adjusted according to the data fed back by the level (8). During the traction of the cable-mounted crane (100), the laser scanning sensor (122) sends a signal to detect whether the other cable-mounted crane (100) is synchronized. The signal received by the laser scanning sensor (122) is divided into three levels according to the brightness intensity. The first level corresponds to the signal emitted by the laser scanning sensor (122), and the second level corresponds to the signal reflected by the arc-shaped target plate (123). Only the signals of the first and second levels are used as the synchronization signals of the cable-mounted crane (100). The traction of the cable-mounted crane (100) adopts a master-slave mode, in which one cable-mounted crane (100) is the master and the other cable-mounted crane (100) is the assistant to follow and align. The lifting device (4) connects to the steel beam segment (10). Before lifting, the data of the level instrument (8) on the second lifting beam (408) is used as the adjustment feedback to adjust the adjusting rod (404) so ​​that the second lifting beam (408) is level. During lifting, the linear speed of the lifting wire rope (307) is detected by the angle sensor or the linear speed sensor (13). The two cable cranes (100) adopt a master-slave control mode, with the lifting speed of one cable crane (100) as the master and the lifting speed of the other cable crane (100) as the slave. If the difference between the lifting speeds of the two cable cranes (100) exceeds the preset value, the master cable crane (100) will slow down and wait.

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