A mobile crossing frame with buffer energy absorption, lifting horns and trajectory monitoring

Abstract

The present invention relates to a mobile crossing frame with buffering and energy absorption, lifting horns and trajectory monitoring, and belongs to the technical field of mechanized equipment for power line crossing construction. The present invention adds a lifting horn device on the basis of the existing crossing frame to ensure the smooth evacuation and arrangement of the mobile umbrella-shaped crossing frame; adds a buffering and energy absorption device for the main bearing roller to reduce the force on the main bearing roller by increasing the duration of the load force; adds a layout and evacuation trajectory safety control system, and uses real-time dynamic carrier phase difference technology and laser radar measurement technology to accurately control the layout and evacuation trajectory of the crossing frame during operation. It solves the problem that the horn device of the existing mobile crossing frame is a fixed structure, the main bearing roller is a rigid structure, and there is no accurate detection means during the on-site arrangement and evacuation of the crossing frame, which makes it easy for the crane boom and the crossing frame to get too close to or touch the live line, causing significant economic losses and casualties to construction personnel.

Description

Technical Field

[0001] The invention relates to a mobile crossing frame with buffering energy absorption, lifting cleats and track monitoring, and belongs to the technical field of mechanized equipment for power line crossing construction. Background Art

[0002] During power line construction, three-span operations are unavoidable: crossing over roads, railways, and power lines. To protect these facilities and ensure construction safety, spanning structures must be erected. Crossing over live lines is particularly problematic during these three-span operations. Conventional spanning structure installation or deployment techniques require power outages to the power lines being crossed to ensure construction safety during the spanning structure installation, grid closure deployment, grid closure removal, and spanning structure removal. However, ensuring uninterrupted power supply lines is a social responsibility and service goal pursued by the power industry. State Grid Corporation of China's "State Grid Corporation of China Power Supply Service Specifications" stipulates that power outages for customers with voltage levels of 35 kV and above should not exceed one per year, and for customers with voltage levels of 10 kV should not exceed three per year. With the accelerated construction and transformation of my country's power grid and its already world-leading power supply network, spanning over power lines during line construction is ubiquitous. Therefore, when the construction of power lines crosses energized lines, ensuring power supply and ensuring safety are two irreconcilable contradictions, which makes it extremely difficult for the line construction department to approve the power outage application. In desperation, illegal non-power outage crossing construction will occur.

[0003] In order to resolve this difficult-to-reconcile contradiction, a mobile automatic fast-deployable crossing frame is disclosed in the prior art, with the announcement number CN205452971U. This crossing frame uses a car crane to support the umbrella-shaped crossing frame above the object to be crossed to protect the object. This mobile crossing frame has been widely used for its safety, convenience, economy, and solution to the problems of manual high-altitude operations and near-electrical operations. Later, its function was innovated and a mobile umbrella-shaped crossing frame with rotation and pitching functions was introduced, with the announcement number CN 216598743 U. It was improved from a simple mobile quick-expanding crossing frame using the umbrella principle to a mobile umbrella-shaped crossing frame with rotation and pitching functions. In order to meet the needs of construction use, the prior art has introduced a mobile umbrella-shaped crossing frame with three additional functions: a near-electric alarm system, front and rear sealing devices, and a state change alarm system after deployment, such as the patent application with the publication number CN 117335320 A. The mobile umbrella-shaped crossing frame can safely carry out completely non-stop crossing construction when the construction site has a large space, the live lines and the surrounding environment are good, and the electromagnetic environment is good, and can adapt to most construction conditions. However, this type of mobile umbrella-shaped spanning frame has also exposed its imperfections in the application of spanning construction without power outages. The reason is that the above technology does not have a special safety monitoring system for the layout and movement trajectory of the mobile umbrella-shaped spanning frame during evacuation. When used on site, it will be difficult to install the near-electric sensor on the boom of the truck crane for near-electric monitoring due to errors in the design of the special spanning construction plan, errors in the on-site layout, inaccuracies in the near-electric sensor under complex electromagnetic environments, inability to install the near-electric sensor on the boom of the truck crane for near-electric monitoring, multiple parallel power supply lines leading to space constraints for spanning frame layout, irregular operation of the truck crane and spanning frame, etc. In addition, in order to reduce the construction cost of the line tower, the power line design department The tower height is kept as low as possible while ensuring a sufficient safety distance at the intersection of power lines. In many cases, after the installation of the new line, the height difference with the crossed line at the intersection does not exceed the safety distance by much. However, the height from the top of the existing horn to the bottom of the sealing plane is close to 4 meters, which often results in the mobile umbrella-shaped crossing frame not being able to be safely removed from the upper and lower power lines, causing the boom of the truck crane and the crossing frame to be too close to or in contact with the live line, which may cause the crossed live line to trip at the least, resulting in significant economic losses to power users, and serious safety accidents resulting in personal injury to the truck crane operator and construction workers on the nearby construction lines.

[0004] Therefore, in order to further ensure construction safety and facilitate safe and convenient use on site, it is necessary to add devices such as a liftable horn device, a main load-bearing roller buffer energy absorption device, and a safety monitoring system for the movement trajectory during arrangement and evacuation to the existing mobile umbrella-shaped crossing frame to ensure the safety of the arrangement and evacuation of the mobile crossing frame without power outages on the crossed power lines, so that the advantages of the mobile umbrella-shaped crossing frame cannot be fully utilized. Summary of the Invention

[0005] The purpose of the present invention is to address the deficiencies of the above-mentioned prior art and provide a mobile crossing frame with buffering and energy absorption, lifting horns and trajectory monitoring; the mobile umbrella-shaped crossing frame adds a liftable horn device, a buffering and energy absorption device of the main bearing roller, a safety monitoring system for the moving trajectory during arrangement and evacuation, an umbrella-shaped crossing frame body switch umbrella state detection, a rotation angle detection and a pitch angle detection device on the basis of the existing functions, so as to solve the problem that the horn device of the existing mobile umbrella-shaped crossing frame is a fixed structure, the main bearing roller is a rigid structure, and the mobile crossing frame has no accurate detection means during on-site arrangement and evacuation, resulting in inaccurate detection of the safety distance value between the crossing frame and the crossed line, causing the boom of the automobile crane and the crossing frame to be too close to or contact the live line, causing significant economic losses and casualties to construction personnel.

[0006] The present invention achieves the above-mentioned purpose through the following technical solutions:

[0007] A mobile crossing frame with buffering and energy absorption, lifting and lowering horns and trajectory monitoring, which consists of a mobile umbrella-shaped crossing frame, an integrated control system for the crossing frame body, a remote operation and remote control system for the crossing frame, a liftable horn device, a buffering and energy absorption device for the main bearing roller, a safety monitoring system for the moving trajectory during arrangement and evacuation, etc.; it is characterized in that the integrated control system for the umbrella-shaped crossing frame body is installed in the crossing frame base control box of the mobile umbrella-shaped crossing frame; the remote operation and remote control system for the crossing frame is operated by an operating operator at a place with good communication; the liftable horn device is in two groups, which are symmetrically distributed and installed on the main bearing trusses on both sides of the umbrella crossing frame body of the mobile umbrella crossing frame; the buffering and energy absorption device of the main bearing roller is in four groups, two of which are installed on the umbrella-shaped upper base of the mobile umbrella crossing frame, and the other two groups are respectively installed on the main bearing trusses of the mobile umbrella crossing frame; the safety monitoring system for the moving trajectory during arrangement and evacuation includes RTK high-precision measurement Measurement system and laser radar ranging system; the RTK high-precision measurement system includes a satellite positioning system, an RTK base station, an RTK mobile station for the umbrella spanning frame body, an RTK mobile station for the rotation center of the crane boom, an RTK mobile station for the crossing point of the crossed wire and an RTK mobile station for the direction of the crossed wire. The RTK base station is installed in a safe position at the work site and fixed, the RTK mobile station for the umbrella spanning frame body is installed on the umbrella-shaped lower base of the spanning frame, the RTK mobile station for the rotation center of the crane boom is installed at the rotation center position of the turntable of the crane, the RTK mobile station for the crossing point of the crossed wire and the RTK mobile station for the direction of the crossed wire are installed directly below the crossed wire; the laser radar ranging system includes a front laser radar ranging device and a rear laser radar ranging device, the front laser radar ranging device is installed on the umbrella-shaped lower base of the umbrella spanning frame body, and the rear laser radar ranging device is installed on the umbrella-shaped upper base of the umbrella spanning frame body.

[0008] The control system of the crossing frame body is composed of a body control system circuit board, a data integration processing unit, a body wired communication module, a body wireless communication module, a wireless cellular communication module and a SIM card. The data integration processing unit, the body wired communication module, the body wireless communication module, the wireless cellular communication module and the SIM card are installed on the body control system circuit board; the control system of the crossing frame body collects the various parameter values ​​required by the switch umbrella status detection sensor, the rotation angle detection sensor, the pitch angle detection sensor, the safety monitoring system of the moving trajectory during the layout and evacuation process, and the special plan for crossing operations.

[0009] The remote operation and remote control system of the crossing frame consists of a remote control circuit board, a remote data processing module, a remote control operation button, a display screen, a USB data interface, a buzzer alarm and a remote control wireless communication module; the remote data processing module, remote control operation button, display screen, USB data interface, buzzer alarm and remote control wireless communication module are installed on the remote control circuit board; the operation data of the mobile umbrella crossing frame required by the special crossing construction plan and the minimum allowable distance value between the mobile umbrella crossing frame and the crossed line or the newly built wire are input through the USB data interface, and are processed by the remote data processing module and transmitted to the crossing frame body control system via the remote control wireless communication module.

[0010] The liftable ram's horn device consists of a lifting drive module, a pin shaft, a ram's horn rod and a ram's horn support rod. The lifting drive module is installed on the main load-bearing truss by installing bolts. The screw nut in the lifting drive module is hinged to one end of the ram's horn support rod, and the other end of the ram's horn support rod is hinged to one end of the ram's horn rod through a pin shaft. The other end of the ram's horn rod is hinged to the middle part of the main load-bearing truss through a pin shaft; the screw nut, ram's horn rod and ram's horn support rod are hinged end to end to form a triangular structure that can be lifted and lowered.

[0011] The lifting drive module is composed of a module drive motor, a planetary reducer, a screw bearing seat, a T-shaped screw, a double-row tapered roller bearing, a screw nut, a screw nut guide plate and a deep groove ball bearing. The module drive motor is connected to one end of the planetary reducer, and the other end of the planetary reducer is mounted on the screw bearing seat. The screw bearing seat is mounted on the main bearing truss through mounting bolts. A double-row tapered roller bearing is installed in the screw bearing seat. The double-row tapered roller bearing is mounted on the bearing position at the right end of the T-shaped screw. The end of the T-shaped screw is connected to the planetary reducer. The outer surface of the screw bearing seat is connected to the screw nut guide plate through a screw. The end is connected, and the other end of the screw nut guide plate is connected to the end support plate of the main load-bearing truss by a screw. The end support plate of the main load-bearing truss is installed with a deep groove ball bearing, and the deep groove ball bearing is mounted on the left end of the T-shaped screw rod. The T-shaped screw rod is mounted with a screw nut, and a guide shaft is processed on the screw nut. The guide shaft cooperates with the guide groove of the screw nut guide plate. When the T-shaped screw rod rotates, the guide shaft can slide freely in the guide groove; the guide shaft is hingedly installed with one end of the horn support rod, and the module drive motor drives the T-shaped screw rod to rotate forward and backward through the planetary reducer, so that the screw nut moves back and forth, thereby realizing the swing of the horn support rod to adjust the height of the horn rod.

[0012] The buffering energy absorbing device of the main bearing roller consists of a buffering energy absorbing device, a roller connecting device, a latch, a rubber-coated roller and a bearing. Bearings are installed at the two inner ends of the rubber-coated roller. The inner ring of the bearing is mounted on the roller connecting device. The roller connecting device is connected to the buffering energy absorbing device at the right end of the main bearing truss through a latch.

[0013] The buffer energy absorption device consists of a nut, a buffer spring, a spring sleeve and a buffer strut, and the buffer strut is hinged to the roller connecting device through a pin; the middle part of the buffer strut is sleeved in the round tube in the middle of the main load-bearing truss, and the lower part of the buffer strut is sleeved with a buffer spring, and the upper end of the buffer spring is pressed against the axial shoulder in the middle of the buffer strut, and the buffer spring is sleeved outside the spring, and the lower end of the inner cavity of the spring sleeve is connected to the lower end of the buffer spring, and the spring sleeve is connected to the thread on the round tube in the middle of the main load-bearing truss through a thread, and the lower end of the buffer strut is fixed as a whole by the nut, the buffer spring and the spring sleeve.

[0014] The RTK high-precision measurement system consists of a satellite positioning system, an RTK base station, an RTK mobile station for the umbrella-shaped spanning frame body, an RTK mobile station for the crane boom rotation center, an RTK mobile station for the crossing point of the spanned wire, and an RTK mobile station for the direction of the spanned wire. The RTK base station is installed and fixed in a safe position at the work site; the RTK mobile station for the umbrella-shaped spanning frame body is installed on the lower base of the spanning frame umbrella; the RTK mobile station for the crane boom rotation center is installed at the rotation center position of the crane turntable; the RTK mobile station for the crossing point of the spanned wire and the RTK mobile station for the direction of the spanned wire are installed directly below the spanned wire; the satellite positioning system and the RTK base station, the RTK mobile station for the umbrella-shaped spanning frame body, the RTK mobile station for the crane boom rotation center, the RTK mobile station for the crossing point of the spanned wire, the RTK mobile station for the direction of the spanned wire, the RTK mobile station for the adjacent line and the RTK mobile station for the direction of the adjacent wire are all connected through wireless signal communication.

[0015] The RTK base station has the same structure as the umbrella spanning frame body RTK mobile station, the crane boom rotation center RTK mobile station, the spanning point RTK mobile station, and the spanning direction RTK mobile station. All base stations contain a base station circuit board, an RTK satellite positioning chip, a signal conversion chip, a base station wireless communication module, and a satellite signal transceiver antenna; the RTK satellite positioning chip, signal conversion chip, base station wireless communication module, and satellite signal transceiver antenna are installed on their respective base station circuit boards.

[0016] The laser radar ranging system consists of a front laser radar ranging device and a rear laser radar ranging device. The front laser radar ranging device is installed on the umbrella-shaped lower base of the umbrella-shaped spanning frame body, and the rear laser radar ranging device is installed on the umbrella-shaped upper base of the umbrella-shaped spanning frame body. The front laser radar ranging device and the rear laser radar ranging device have the same structure, consisting of a pan-tilt base plate, a horizontal motor, a vertical motor, a horizontal angle detection sensor, a vertical angle detection sensor and a laser ranging radar. The pan-tilt base plate, the horizontal motor and the vertical motor form a two-axis pan-tilt, and the laser ranging radar is installed on the output shaft of the two-axis pan-tilt.

[0017] The beneficial effects of the present invention compared with the prior art are:

[0018] This mobile crossing frame with buffering and energy absorption, lifting horns and trajectory monitoring adds a lifting horn device on the basis of the existing mobile umbrella crossing frame. The horn height adjustment function can ensure that the mobile umbrella crossing frame can be smoothly evacuated from the layout position, reducing the requirements for the design distance of the power line intersection; a main load-bearing roller buffering and energy absorption device is added, which reduces the force on the main load-bearing roller by increasing the load force duration, so that the impact resistance of the entire mobile umbrella crossing frame is significantly improved; a safety monitoring system for the moving trajectory during layout and evacuation, an umbrella crossing frame body switch umbrella status detection, a rotation angle detection and a pitch angle detection device are added. Through the application of real-time dynamic carrier phase difference technology and lidar measurement technology, the layout and evacuation trajectory of the mobile umbrella crossing frame during operation are accurately controlled, and an alarm prompt can be issued when an operation error occurs to avoid misoperation. The invention solves the problems that the existing mobile umbrella-shaped crossing frame has a fixed structure of the horn device, a rigid structure of the main bearing roller, and a lack of accurate detection means during the on-site arrangement and evacuation of the mobile crossing frame, resulting in inaccurate detection of the safety distance value between the crossing frame and the crossed line, causing the boom of the truck crane and the crossing frame to be too close to or contact the live line, resulting in significant economic losses and casualties among construction workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A schematic diagram of a mobile spanning frame with energy-absorbing buffer, lifting cleats, and trajectory monitoring during operation without power outage;

[0020] Figure 2 A top view of a mobile spanning frame with energy-absorbing buffer, lifting horns, and track monitoring during operation without power outages;

[0021] Figure 3 This is a schematic diagram of the installation of the control system of the crossing frame body on the crossing frame base;

[0022] Figure 4This is the circuit block diagram of the control system of the spanning frame;

[0023] Figure 5 This is a structural diagram of the remote control operating system for the spanning frame;

[0024] Figure 6 A diagram of a remote control operating system across a rack;

[0025] Figure 7 It is a structural diagram of the lifting horn device and the buffer energy absorption device of the main load-bearing roller;

[0026] Figure 8 It is a cross-sectional view of the lifting drive module;

[0027] Figure 9 This is a structural diagram of the umbrella-shaped lower base of the spanning frame;

[0028] Figure 10 This is a structural diagram of the umbrella-shaped upper base of the spanning frame;

[0029] Figure 11 This is a schematic diagram of the structure of the RTK base station;

[0030] Figure 12 This is the circuit block diagram of the RTK base station;

[0031] Figure 13 This is a structural diagram of a dual-axis pan-tilt laser ranging radar with feedback signal.

[0032] In the figure: 1. Mobile umbrella-shaped spanning frame, 101. Crane, 102. Umbrella-shaped spanning frame body, 10201. Spanning frame base, 10202. Umbrella lower base, 10203. Umbrella upper base, 10204. Main bearing truss, 10205. Ordinary umbrella truss, 10206. Pull rod, 10207. Switch umbrella drive motor, 10208. Switch umbrella drive screw, 10209. Switch umbrella status sensor, 10210. Rotation drive motor, 10211. Rotation drive device, 10212. Rotation angle sensor, 10213. Pitch drive motor, 10214. Pitch drive device, 10215. Pitch angle sensor, 103. Network blocking device, 104. Wireless cellular communication base Station, 105, user receiving terminal, 2, new conductor, 3, crossed line, 4, crossing frame body control system, 401, body control system circuit board, 402, data integration processing unit, 403, body wired communication module, 404, body wireless communication module, 405, wireless cellular communication module, 406, MIS card, 5, crossing frame remote control operating system, 501, remote control circuit board, 502, remote data processing module, 503, remote control operation button, 504, display screen, 505, USB interface, 506, buzzer alarm, 507, remote control wireless communication module, 6, liftable horn device, 601, lift drive module, 60101, module drive motor, 60102, planetary Reducer, 60103, screw bearing seat, 60104, T-shaped screw, 60105, double-row tapered roller bearing, 60106, screw nut, 60107, screw, 60108, screw nut guide, 60109, deep groove ball bearing, 602, pin, 603, clevis rod, 604, clevis support rod, 7, buffer energy absorption device of the main load-bearing roller, 701, buffer energy absorption device, 70101, nut, 70102, buffer spring, 70103, spring sleeve, 70104, buffer support rod, 702, roller connection device, 703, latch, 704, rubber-coated roller, 705, bearing, 8, safety monitoring system for moving trajectory during layout and evacuation, 801, RTK high-precision measurement system System, 80101, satellite positioning system, 80102, RTK base station, 8010201, base station circuit board, 8010202, RTK satellite positioning chip, 8010203, signal conversion chip, 8010204, base station wireless communication module, 8010205, satellite signal receiving antenna, 80103, umbrella spanning frame body RTK mobile station, 80104, crane boom rotation center RTK mobile station, 80105, spanning point RTK mobile station, 80106, spanning direction RTK mobile station, 802, lidar ranging system, 80201, front lidar ranging device, 8020101, pan / tilt base plate, 8020102, horizontal motor,8020103, vertical motor, 8020104, laser ranging radar, 8020105, horizontal angle sensor, 8020106, vertical angle sensor, 80202, rear laser ranging device, 9, mounting bolts. DETAILED DESCRIPTION

[0033] The following is combined with Figure 1-13 The technical solution of the present invention is further described as follows.

[0034] The mobile crossing frame with buffering and energy absorption, lifting cleats and trajectory monitoring is composed of a mobile umbrella-shaped crossing frame 1, an umbrella-shaped crossing frame body integrated control system 4, a crossing frame remote operation and remote control system 5, a lifting cleat device 6, a buffering and energy absorption device for the main load-bearing roller 7, a safety monitoring system 8 for the moving trajectory during deployment and evacuation, and mounting bolts 9.

[0035] Furthermore, the mobile umbrella-shaped spanning frame 1 is composed of a crane 101, an umbrella-shaped spanning frame body 102, a network sealing device 103, a mobile cellular communication system 104 and a user receiving terminal 105. The crane 101 can be a truck crane or a crawler crane of different tonnages, which is combined with the umbrella-shaped spanning frame body 102 to form a mobile umbrella-shaped spanning frame 1. The crane 101 serves as a lifting, swinging and load-bearing support device for the umbrella-shaped spanning frame body 102, and arranges the umbrella-shaped spanning frame body 102 to the location where construction is required; the umbrella-shaped spanning frame body 102 includes a spanning frame base 10201, an umbrella lower base 10202, an umbrella upper base 10203, a main load-bearing truss 10204, and an ordinary umbrella-shaped spanning frame body 102. Truss 10205, pull rod 10206, switch umbrella drive motor 10207, switch umbrella drive screw 10208, switch umbrella state detection sensor 10209, rotation drive motor 10210, rotation drive device 10211, rotation angle detection sensor 12012, pitch drive motor 10213, pitch drive device 10214 and pitch angle detection sensor 10215; the bottom of the crossing frame base 10201 has four adjustable supports, which can be connected to cranes 101 of different brands and tonnages. The pitch drive motor 10213 is installed on the pitch drive device 10214 in the middle of the crossing frame base 10201. A pitch angle detection sensor 10215 is installed at the other end, a rotation drive motor 10210 is installed on the rotation drive device 10211 at the top of the crossing frame base 10201, and a rotation angle detection sensor 10212 is installed at the other end of the rotation drive device 10211; an umbrella-shaped lower base 10202 is installed on the top of the crossing frame base 10201 through a mounting bolt 9, and a switch umbrella drive motor 10207 is installed in the middle of the umbrella-shaped lower base 10202, the lower end of the switch umbrella drive motor 10207 is connected to the switch umbrella state detection sensor 10209, and the upper end of the switch umbrella drive motor 10207 is connected to the switch umbrella drive screw 10208, and the switch umbrella drive screw 10208 The upper end is connected to the square tube of the umbrella-shaped upper base 10203, and the square tube of the umbrella-shaped upper base 10203 is fitted with the square tube of the umbrella-shaped lower base 10202. Eight groups of ordinary umbrella trusses 10205 are distributed around the umbrella-shaped lower base 10202. The ends of the ordinary umbrella trusses 10205 are respectively hinged to the umbrella-shaped lower base 10202. The middle parts of the ordinary umbrella trusses 10205 are respectively hinged to the umbrella-shaped upper base 10203 through eight tie rods 10206 to form a rectangular network sealing platform. The two main bearing trusses 10204 are respectively hinged to the umbrella-shaped upper base 10203, and the middle parts of the main bearing trusses 10204 are supported by three tie rods 10206 on the ordinary umbrella trusses 10205 on both sides.The described sealing net device 103 is respectively installed at the front and rear positions of the short side of the rectangular sealing net platform after the umbrella-shaped spanning frame body 102 is arranged in place during the span construction, and is combined with the rectangular sealing net platform to realize the front and rear sealing net functions of the mobile umbrella-shaped spanning frame, thereby increasing the sealing net coverage area of ​​the mobile umbrella-shaped spanning frame, and preventing the wires from falling due to the breaking of the wire during construction and causing the wires to swing back and contact the high-voltage live wires below and hit vehicles and pedestrians; the described switch umbrella drive motor 10207 and the switch umbrella drive screw 10208 can realize the expansion and folding functions of the umbrella-shaped spanning frame body 102; the described rotary The rotation drive motor 10210 and the rotation drive device 10211 enable the rotation of the umbrella spanning frame body 102; the pitch drive motor 10213 and the pitch drive device 10214 enable the pitch of the umbrella spanning frame body 102; the umbrella opening and closing drive motor 10207, the umbrella opening and closing state detection sensor 10209, the rotation drive motor 10210, the rotation angle detection sensor 10212, the pitch drive motor 10213, and the pitch angle detection sensor 10214 all communicate with the spanning frame body control system 4 via wired signals.

[0036] The umbrella-shaped crossing frame body integrated control system 4 is installed in the control box of the crossing frame base 10201 of the mobile umbrella-shaped crossing frame 1.

[0037] Furthermore, the control system 4 of the crossing frame body is composed of a body control system circuit board 401, a data integration processing unit 402, a body wired communication module 403, a body wireless communication module 404, a wireless cellular communication module 405 and a SIM card 406. The data integration processing unit 402, the body wired communication module 403, the body wireless communication module 404, the wireless cellular communication module 405 and the SIM card 406 are installed on the body control system circuit board 401; the data integration processing unit 402 is responsible for data transmission, danger signal identification and providing danger warning signals, and the body wired communication module 403 is responsible for communicating with the switch umbrella drive motor 10207, the switch umbrella state detection sensor 10209, the rotation drive motor 10210, and the rotation angle detection sensor 10211. 212, data exchange is carried out between the pitch drive motor 10213 and the pitch angle detection sensor 10214, the lifting drive module 601, the front laser ranging device 80201 and the rear laser ranging device 80202; the main body wireless communication module 404 is responsible for data exchange with the RTK base station 80102, the umbrella-shaped crossing frame body RTK mobile station 80103, the crane boom rotation center RTK mobile station 80104, the crossed wire crossing point RTK mobile station 80105, the crossed wire direction RTK mobile station 80106 and the crossing frame remote control device 5; the wireless cellular communication module 405 and the SIM card 406 work together to be responsible for sending the danger warning signal of the data integration processing unit to the user receiving terminal 105 through the wireless cellular communication base station 104.

[0038] Furthermore, the control system 4 of the crossing frame collects various parameter values ​​of the switch umbrella state detection sensor 10209, the rotation angle detection sensor 10212, the pitch angle detection sensor 10215, the RTK high-precision measurement system, and the special plan for crossing operations. When it is detected that the minimum actual distance between the mobile umbrella crossing frame 1 and the crossed wire 3 or the mobile umbrella crossing frame 1 and the newly built line 2 is close to or less than the distance value required by the system, the crossing frame control system 4 will send an alarm prompt signal to the crossing frame remote operation remote control system 5. The alarm signal will be displayed on the display 504, and the buzzer alarm 506 will also sound an alarm to prompt the operator to make adjustments. At this time, the crossing frame control system 4 will also issue a command to stop the movement of the mobile umbrella crossing frame 1 to prevent the operator from making an operation accident due to misoperation. Normal operation can only be resumed after the operator adjusts the mobile umbrella crossing frame 1 to a safe area.

[0039] Furthermore, the remote control system 5 of the crossing frame is operated by the operating personnel in a place with good communication; the remote control system 5 of the crossing frame is composed of a remote control circuit board 501, a remote data processing module 502, a remote control operation button 503, a display screen 504, a USB data interface 505, a buzzer alarm 506 and a remote control wireless communication module 507; the remote data processing module 502, the remote control operation button 503, the display screen 504, the USB data interface 505, the buzzer alarm 506 and the remote control wireless communication module 507 are installed on the remote control circuit board 501; through the USB The data interface 505 can input the operation data of the mobile umbrella spanning frame 1 required by the current special plan for spanning construction and the minimum allowable distance value between the mobile umbrella spanning frame 1 and the spanned line 3 or the newly built conductor 2. After being processed by the remote data processing module 502, it is transmitted to the spanning frame body control system 4 through the remote control wireless communication module 507 and stored in the data integration processing unit 402 of the spanning frame body control system 4. When the umbrella spanning frame body 102 is operated by the remote control operation button 503 during operation, if the operator's operation instruction does not match the operation instruction currently stored in the data integration processing unit 402, the spanning frame body 102 will be stopped. The over-frame body control system 4 will issue an operation error warning signal, which will be transmitted to the controller wireless communication module 507 via the body wireless communication module 404. After processing by the remote data processing module 502, the operation error warning signal will be displayed on the display screen 504. At the same time, the remote data processing module 502 will send an alarm prompt sound to the buzzer alarm 506. The USB data interface 505 can also transmit data through an external line to integrate the control instructions of the crane 101 issued by the data integration processing unit 402 in the over-frame body control system 4, so as to achieve the purpose of controlling the action of the truck crane 101. At the same time, the remote control operation button 503 The communication number of the user receiving terminal 104 that needs early warning notification is preset on the display screen 504, and the remote control circuit board 501 transmits it to the remote data processing module 502 for processing to produce user identity data D, and then the remote control-free wireless communication module 507 sends the user identity data D to the cross-rack body control system 4; after the body wireless communication module 404 of the cross-rack body control system 4 receives the user identity data D, it is transmitted to the data integration processing unit 402 through the internal circuit of the body control system circuit board 401 for processing, and then stored in the wireless cellular communication module 405 for use when a dangerous situation early warning signal needs to be issued.

[0040] Furthermore, the liftable ram's horn device 6 is divided into two groups, which are symmetrically distributed and installed on the main load-bearing trusses 10204 on both sides of the umbrella-shaped crossing frame body 102 of the mobile umbrella-shaped crossing frame 1; the liftable ram's horn device 6 is composed of a lifting drive module 601, a pin shaft 602, a ram's horn rod 603 and a ram's horn support rod 604, and the lifting drive module 601 is installed on the main load-bearing truss 10204 by installing bolts 10, and the screw nut 60106 in the lifting drive module 601 is hinged to one end of the ram's horn support rod 604, and the other end of the ram's horn support rod 604 is hinged to one end of the ram's horn rod 603 through the pin shaft 602, and the other end of the ram's horn rod 603 is hinged to the middle part of the main load-bearing truss 10204 through the pin shaft 602; the screw nut 60106, the ram's horn rod 603 and the ram's horn support rod 604 are hinged end to end to form a liftable triangular structure.

[0041] Furthermore, the lifting drive module 601 is composed of a module drive motor 60101, a planetary reducer 60102, a screw bearing seat 60103, a T-shaped screw 60104, a double-row tapered roller bearing 60105, a screw nut 60106, a screw 60107, a screw nut guide plate 60108 and a deep groove ball bearing 60109. The module drive motor 60101 is connected to one end of the planetary reducer 60102, and the other end of the planetary reducer 60102 is installed on the screw bearing seat 60 103, the screw bearing seat 60103 is installed on the main bearing truss 10204 by means of mounting bolts 10, a double-row tapered roller bearing 60105 is installed in the screw bearing seat 60103, and the double-row tapered roller bearing 60105 is mounted on the bearing position at the right end of the T-shaped screw 60104. The end of the T-shaped screw 60104 is connected to the planetary reducer 60102. The outer surface of the screw bearing seat 60103 is connected to one end of the screw nut guide plate 60108 by means of screws 60107. The screw nut guide plate 60108 is connected to the outer surface of the screw bearing seat 60103 by means of screws 60107. The other end of 108 is connected to the end support plate of the main load-bearing truss 10204 by a screw 60107. The end support plate of the main load-bearing truss 10204 is installed with a deep groove ball bearing 60109. The deep groove ball bearing 60109 is mounted on the left end of the T-shaped screw rod 60104. The T-shaped screw rod 60104 is mounted with a screw nut 60106. The screw nut 60106 is machined with a guide shaft. The guide shaft cooperates with the guide groove of the screw nut guide plate 60108. When the T-shaped screw rod 60104 rotates, the guide shaft can It slides freely in the guide groove; the guide shaft is hingedly installed with one end of the cleat support rod 604, and the module drive motor 60101 drives the T-shaped screw rod 60104 to rotate forward and reverse through the planetary reducer 60102, so that the screw nut 60106 moves back and forth, thereby realizing the swing of the cleat support rod 604 to adjust the height of the cleat rod 603, and finally achieving the goal of laying the cleat rod 603 flat downward, so that the liftable cleat device 6 will not be scratched with the newly built line 2 above, thereby ensuring the smooth arrangement and evacuation of the mobile umbrella-shaped crossing frame 1.

[0042] Furthermore, the buffer energy absorption device 7 of the main load-bearing roller is composed of four groups, two of which are installed on the umbrella-shaped upper base 10203 of the mobile umbrella-shaped spanning frame 1, and the other two groups are respectively installed on the main load-bearing trusses 10204 of the mobile umbrella-shaped spanning frame 1;

[0043] The buffer energy absorbing device 7 of the main bearing roller is composed of a buffer energy absorbing device 701, a roller connecting device 702, a latch 703, a rubber-coated roller 704 and a bearing 705; the buffer energy absorbing device 701 is composed of a nut 70101, a buffer spring 70102, a spring sleeve 70103 and a buffer support rod 70104, and the buffer support rod 70104 is hinged to the roller connecting device 702 through the latch 703; the middle part of the buffer support rod 70104 is sleeved in the round tube in the middle of the main bearing truss 10204, and the buffer support rod 70104 is sleeved in the middle part of the main bearing truss 10204. 4 is provided with a buffer spring 70102 at the bottom, the upper end of the buffer spring 70102 is pressed against the shoulder of the middle part of the buffer strut 70104, the buffer spring 70102 is provided with a spring sleeve 70103 at the outside, the lower end of the inner cavity of the spring sleeve 70103 is connected to the lower end of the buffer spring 70102, the spring sleeve 70103 is connected to the thread on the central round tube of the main load-bearing truss 10204 through a thread, and the lower end of the buffer strut 70104 is fixed as a whole by the nut 70101, the buffer spring 70102 and the spring sleeve 70103. The buffer strut 70104 can move freely up and down in the circular tube in the middle of the main load-bearing truss 10204. Under the action of the elastic force of the buffer spring 70102, the buffer strut 70104 is pushed to the top, and the upper end surface of the circular axis in the middle section of the buffer strut 70104 and the upper end surface of the circular tube in the middle of the main load-bearing truss 10204 form a space in which one end can move freely. In the event of an accident, the newly built conductor 2 suddenly breaks and contacts the buffer energy-absorbing device 7 of the main load-bearing roller, and an impact force is generated between the newly built conductor 2 and the buffer energy-absorbing device 7 of the main load-bearing roller. After a period of displacement deceleration, the newly built conductor 2 and the buffer energy-absorbing device 7 of the main load-bearing roller are relatively stationary, and the impact process ends. Due to the existence of the freely movable space, the change S of the motion displacement can be increased, so that the action time t of the impact process force is prolonged (the principle is derived from the displacement-speed-time formula of classical mechanics, S is the displacement change, V is the velocity change, and t is the motion time. When the velocity change V is constant, the larger the displacement change S, the longer the motion time t).

[0044] The free movement space can increase the time t from contact to static force action of the buffer energy absorbing device 7 after the newly built conductor 2 suddenly breaks and impacts the main bearing roller during an accident.

[0045] Furthermore, bearings 705 are mounted on both inner ends of the rubber-coated drum 704. The inner rings of bearings 705 fit over drum connection devices 702, which are connected to the energy-absorbing buffer 701 at the right end of the main load-bearing truss 10204 via latches 703. The energy-absorbing buffer 701 is mounted on both ends of the rubber-coated drum 704, allowing the drum 704 to move up and down along the axis of the energy-absorbing buffer 701. Because the energy-absorbing buffer 701 at both ends has free space for movement, the impact force between the newly constructed conductor 2 and the energy-absorbing buffer 7 of the main load-bearing drum is reduced during a crossing construction accident (according to the impulse theorem of classical mechanics, where P is the change in impulse caused by the newly constructed conductor 2 contacting the energy-absorbing buffer 7 of the main load-bearing drum during the accident, F is the force exerted by the newly constructed conductor 2 contacting the energy-absorbing buffer 7 of the main load-bearing drum, and t is the time during which the newly constructed conductor 2 contacts the energy-absorbing buffer 7 of the main load-bearing drum to exert its static force. Since P is a fixed value, a larger t decreases F).

[0046] Furthermore, the safety monitoring system 8 for the movement trajectory during the arrangement and evacuation process, together with the mobile umbrella-type crossing frame 1, the crossing frame body control system 4, and the crossing frame remote operation and remote control system 5, completes the safety monitoring function of the movement trajectory of the mobile umbrella-type crossing frame 1 during the arrangement and evacuation process. The safety monitoring system 8 for the movement trajectory during the arrangement and evacuation process includes an RTK high-precision measurement system 801 and a lidar measurement system 802; the RTK high-precision measurement system 801 is composed of a satellite positioning system 80101, an RTK reference station 80102, an umbrella-type crossing frame body RTK mobile station 80310, a crane boom rotation center RTK mobile station 80104, a RTK mobile station 80105 for the crossing point of the crossed wire, and an RTK mobile station 80106 for the direction of the crossed wire. The RTK reference station 80102 is installed and fixed in a safe position at the work site; the umbrella-type crossing frame body RTK mobile station 80103 is installed at the crossing point. The RTK mobile station 80104 for the rotation center of the crane boom is installed on the lower base 10202 of the umbrella-shaped crossing frame; the RTK mobile station 80104 for the rotation center of the turntable of the crane 101 is installed; the RTK mobile station 80105 for the crossing point of the crossed wire and the RTK mobile station 80106 for the direction of the crossed wire are installed directly below the crossed wire 3; the satellite positioning system 80101 and the RTK base station 80102, the RTK mobile station 80103 for the umbrella-shaped crossing frame body, the RTK mobile station 80104 for the rotation center of the crane boom, the RTK mobile station 80105 for the crossing point of the crossed wire and the RTK mobile station 80106 for the direction of the crossed wire are all connected through wireless signal communication.

[0047] Furthermore, the RTK base station 80102 and the umbrella-shaped spanning frame body RTK mobile station 80103, the crane boom rotation center RTK mobile station 80104, the spanning point RTK mobile station 80105 and the spanning direction RTK mobile station 80106 all have the same structure. All base stations include a base station circuit board 8010201, an RTK satellite positioning chip 8010202, a signal conversion chip 8010203, a base station wireless communication module 8010204 and a satellite signal transceiver antenna 8010205; the RTK satellite positioning chip 8010202, the signal conversion chip 8010203, the base station wireless communication module 8010204 and the satellite signal transceiver antenna 8010205 are installed on their respective base station circuit boards 8010201.

[0048] Furthermore, the RTK high-precision measurement system 801 uses real-time dynamic carrier phase differential technology to achieve motion trajectory control for the deployment and evacuation of the mobile umbrella-type spanning frame 1 during operation, and can issue an alarm prompt function when the actual operation trajectory deviates from the system preset trajectory; through the absolute position relationship between the RTK base station 80102 and the umbrella-type spanning frame body RTK mobile station 80103 and the crane boom rotation center RTK mobile station 80104, the correctness of the absolute position where the crane 101 needs to be parked during operation can be verified, and the correctness of the parking direction of the crane 101 during operation can also be verified, and the spatial position coordinate value of the umbrella-type spanning frame body 102 during the entire operation process can also be determined; through the absolute position relationship between the RTK base station 80102 and the RTK mobile station 80105 at the crossing point of the crossed wire and the RTK mobile station 80106 in the direction of the crossed wire, the direction of the crossed wire 3 can be determined, and the spatial position relationship between the crossed wire 3 and the mobile umbrella-type spanning frame 1 can also be determined.

[0049] Furthermore, the laser radar ranging system 802, the overpass body control system 4, and the overpass remote control system 5 jointly implement laser radar ranging technology. The laser radar ranging system 802 is composed of a front laser radar ranging device 80201 and a rear laser radar ranging device 80202. The front laser radar ranging device 80201 is installed on the umbrella-shaped lower base 10202 of the umbrella-shaped overpass body, and the rear laser radar ranging device 80202 is installed on the umbrella-shaped upper base 10203 of the umbrella-shaped overpass body. The function of the front laser radar ranging device 80201 is to measure in real time the minimum distance between the front laser radar ranging device 80201 and the obstacle in front of the crane 101 boom, and the minimum distance value and angle value between the front laser radar ranging device 80201 and the crossed wire 3; the function of the rear laser radar ranging device 80202 is to measure in real time the minimum distance between the rear laser radar ranging device 80202 and the obstacle behind the crane 101 boom, and the minimum distance value and angle value between the rear laser radar ranging device 80202 and the newly built wire 2.

[0050] Furthermore, the front laser radar ranging device 80201 and the rear laser radar ranging device 80202 have the same structure, and are composed of a pan-tilt base plate 8020101, a horizontal motor 8020102, a vertical motor 8020103, a horizontal angle detection sensor 8020105, a vertical angle detection sensor 8020106 and a laser ranging radar 8020104. 20103 forms a two-axis pan-tilt platform, and the laser ranging radar 8020104 is installed on the output shaft of the two-axis pan-tilt platform. When the crane 101 boom rotates and retracts and the umbrella-shaped spanning frame body 102 opens and closes the umbrella and rotates and pitches, the laser beam of the laser ranging radar 8020104 can always vertically scan the crossed wire 3 and the current construction wire 2. The horizontal angle detection sensor 8020105 and the vertical angle detection sensor 8020106 respectively detect the horizontal motor 802 0102 and the angle values ​​of the rotation of the vertical motor 8020103 are transmitted to the cross-frame body control system 4 through wired transmission. The data integration processing unit 402 in the cross-frame body control system 4 calculates the required rotation angle of the two-axis gimbal of the current front laser radar ranging device 80201 and the rear laser radar ranging device 80202 through the obtained spatial data value of the mobile umbrella-shaped cross-frame, so that the laser beam of the laser ranging radar 8020104 is always perpendicular to the direction of the object to be measured. At the same time, the laser ranging radar 8020104 will also measure the distance value and angle value between the obstacle and it, and transmit them to the cross-frame body control system 4. After calculation and comparison by the data integration processing unit 402, if the distance value is close to or lower than the minimum distance value required in the system, the data integration processing unit 402 will send a warning signal to the cross-frame remote operation remote control system 5, and the warning signal will be displayed on the display screen 504. At the same time, the buzzer alarm 506 will also sound an alarm.

[0051] Furthermore, the crossing frame body control system 4, the crossing frame remote operation and remote control system 5, the satellite positioning system 80101, the RTK base station 80102, the umbrella crossing frame body RTK mobile station 80103, the mobile cellular communication system 104 and the user receiving terminal 105 can also simultaneously realize the intelligent duty function of the mobile umbrella crossing frame 1 during operation.

Claims

1. A mobile crossing frame with buffering and energy absorption, lifting cleats and trajectory monitoring, which consists of a mobile umbrella-shaped crossing frame (1), an umbrella-shaped crossing frame body integrated control system (4), a crossing frame remote operation and remote control system (5), a lifting cleats device (6), a buffering and energy absorption device for the main bearing roller (7), and a safety monitoring system (8) for the moving trajectory during the deployment and evacuation process; characterized in that: The umbrella-shaped spanning frame body integrated control system (4) is installed in the spanning frame base (10201) control box of the mobile umbrella-shaped spanning frame (1); the spanning frame remote operation remote control system (5) is operated by the operating personnel at a place with good communication; the lifting horn device (6) is composed of two groups, which are symmetrically distributed and installed on the main bearing trusses (10204) on both sides of the umbrella-shaped spanning frame body (102) of the mobile umbrella-shaped spanning frame (1); the main bearing roller buffer energy absorption device (7) is composed of four groups, two of which are installed on the mobile umbrella-shaped spanning frame ( 1), and the other two groups are respectively installed on the main bearing trusses (10204) of the mobile umbrella-shaped spanning frame (1); the safety monitoring system (8) for the movement trajectory during the arrangement and evacuation process includes an RTK high-precision measurement system (801) and a laser radar ranging system (802); the RTK high-precision measurement system (801) includes a satellite positioning system (80101), an RTK base station (80102), an umbrella-shaped spanning frame body RTK mobile station (80103), a crane boom rotation center RTK The RTK mobile station (80104), the RTK mobile station (80105) at the crossing point of the cross-wire and the RTK mobile station (80106) at the direction of the cross-wire are installed. The RTK base station (80102) is installed in a safe position at the work site and fixed. The RTK mobile station (80103) at the umbrella-shaped cross-frame body is installed on the umbrella-shaped lower base (10202) of the cross-frame. The RTK mobile station (80104) at the rotation center of the crane boom is installed at the rotation center position of the turntable of the crane (101). The moving station (80105) and the RTK moving station (80106) in the direction of the crossed wire are installed directly below the crossed wire (3); the laser radar ranging system (802) includes a front laser radar ranging device (80201) and a rear laser radar ranging device (80202), the front laser radar ranging device (80201) is installed on the umbrella-shaped lower base (10202) of the umbrella-shaped spanning frame body, and the rear laser radar ranging device (80202) is installed on the umbrella-shaped upper base (10203) of the umbrella-shaped spanning frame body.

2. The mobile crossing frame with buffering energy absorption, lifting horns and trajectory monitoring according to claim 1 is characterized in that: The cross-frame body control system (4) is composed of a body control system circuit board (401), a data integration processing unit (402), a body wired communication module (403), a body wireless communication module (404), a wireless cellular communication module (405) and a SIM card (406), wherein the data integration processing unit (402), the body wired communication module (403), the body wireless communication module (404), the wireless cellular communication module (405) and the SIM card (406) are mounted on the body control system circuit board (401); the cross-frame body control system (4) collects information from a switch umbrella state detection sensor (10209), a rotation angle detection sensor (10212), a pitch angle detection sensor (10215), a safety monitoring system (8) of movement trajectories during deployment and evacuation, and various parameter values ​​required to be input into the system by a special plan for the cross-frame operation.

3. The mobile crossing frame with buffering energy absorption, lifting horns and trajectory monitoring according to claim 1 is characterized in that: The remote control system (5) of the crossing frame is composed of a remote control circuit board (501), a remote data processing module (502), a remote control operation button (503), a display screen (504), a USB data interface (505), a buzzer alarm (506) and a remote control wireless communication module (507); the remote data processing module (502), the remote control operation button (503), the display screen (504), the USB data interface (505), the buzzer alarm (506) and the remote control wireless communication module (507) are installed on the remote control circuit board (501); the operation data of the mobile umbrella-shaped crossing frame (1) required by the special crossing construction plan and the minimum allowable distance value between the mobile umbrella-shaped crossing frame (1) and the crossed line (3) or the newly built conductor (2) are input through the USB data interface (505), processed by the remote data processing module (502), and then transmitted to the crossing frame body control system (4) through the remote control wireless communication module (507).

4. The mobile crossing frame with buffering energy absorption, lifting horns and trajectory monitoring according to claim 1 is characterized in that: The liftable ram's horn device (6) consists of a lift drive module (601), a pin (602), a ram's horn rod (603) and a ram's horn support rod (604). The lift drive module (601) is mounted on the main load-bearing truss (10204) via mounting bolts (10). The screw nut (60106) in the lift drive module (601) is hinged to one end of the ram's horn support rod (604). The other end of the ram's horn support rod (604) is hinged to one end of the ram's horn rod (603) via the pin (602). The other end of the ram's horn rod (603) is hinged to the middle of the main load-bearing truss (10204) via the pin (602). The screw nut (60106), the ram's horn rod (603) and the ram's horn support rod (604) are hinged end to end to form a liftable triangular structure.

5. The mobile crossing frame with buffering energy absorption, lifting horns and trajectory monitoring according to claim 4 is characterized in that: The lifting drive module (601) is composed of a module drive motor (60101), a planetary reducer (60102), a screw bearing seat (60103), a T-shaped screw (60104), a double-row tapered roller bearing (60105), a screw nut (60106), a screw (60107), a screw nut guide plate (60108) and a deep groove ball bearing (60109). The module drive motor (60101) is connected to one end of the planetary reducer (60102). The planetary reducer (6010 2) is mounted on the screw bearing seat (60103), the screw bearing seat (60103) is mounted on the main bearing truss (10204) by means of mounting bolts (9), a double-row tapered roller bearing (60105) is mounted in the screw bearing seat (60103), the double-row tapered roller bearing (60105) is mounted on the bearing position at the right end of the T-shaped screw (60104), the end of the T-shaped screw (60104) is connected to the planetary reducer (60102), and the outer surface of the screw bearing seat (60103) is provided with a plurality of tapered roller bearings (60105). The screw (60107) is connected to one end of the screw nut guide plate (60108), and the other end of the screw nut guide plate (60108) is connected to the end support plate of the main load-bearing truss (10204) through the screw (60107). The end support plate of the main load-bearing truss (10204) is installed with a deep groove ball bearing (60109). The deep groove ball bearing (60109) is mounted on the left end of the T-shaped screw rod (60104). The T-shaped screw rod (60104) is mounted with a screw nut (60106). The screw nut (60106) is mounted on the T-shaped screw rod (60104). 6) is processed with a guide shaft, which cooperates with the guide groove of the screw nut guide plate (60108). When the T-shaped screw (60104) rotates, the guide shaft can slide freely in the guide groove; the guide shaft is hingedly installed with one end of the horn support rod (604), and the module drive motor (60101) drives the T-shaped screw (60104) to rotate forward and reverse through the planetary reducer (60102), so that the screw nut (60106) moves forward and backward, thereby realizing the swing of the horn support rod (604) to adjust the height of the horn rod (603).

6. The mobile crossing frame with buffering energy absorption, lifting horns and trajectory monitoring according to claim 1 is characterized in that: The buffering energy absorbing device (7) of the main bearing roller is composed of a buffering energy absorbing device (701), a roller connecting device (702), a latch (703), a rubber-coated roller (704) and a bearing (705). The two inner ends of the rubber-coated roller (704) are equipped with bearings (705). The inner ring of the bearing (705) is sleeved on the roller connecting device (702). The roller connecting device (702) is connected to the buffering energy absorbing device (701) at the right end of the main bearing truss (10204) through the latch (703).

7. The mobile crossing frame with energy absorption buffer, lifting horns and trajectory monitoring according to claim 6 is characterized in that: The buffer energy absorption device (701) is composed of a nut (70101), a buffer spring 7 (0102), a spring sleeve (70103) and a buffer support rod (70104). The buffer support rod (70104) is hinged to the roller connection device (702) through a latch (703). The middle part of the buffer support rod (70104) is sleeved in the circular tube in the middle part of the main bearing truss (10204). The lower part of the buffer support rod (70104) is sleeved with a buffer spring (70102). The buffer spring (70102) is sleeved on the bottom of the buffer support rod (70104). The upper end is pressed against the shoulder of the middle part of the buffer strut (70104), the buffer spring (70102) is sheathed with a spring sleeve (70103), the lower end of the inner cavity of the spring sleeve (70103) is connected to the lower end of the buffer spring (70102), the spring sleeve (70103) is connected to the thread on the middle part of the circular tube of the main load-bearing truss (10204) through a thread, and the lower end of the buffer strut (70104) is fixed as a whole through a nut (70101), the buffer spring (70102) and the spring sleeve (70103).

8. The mobile crossing frame with buffering energy absorption, lifting cleats and trajectory monitoring according to claim 1 is characterized in that: The safety monitoring system (8) for the movement trajectory during the arrangement and evacuation process includes an RTK high-precision measurement system (801) and a laser radar ranging system (802); the RTK high-precision measurement system (801) is composed of a satellite positioning system (80101), an RTK base station (80102), an umbrella-shaped spanning frame body RTK mobile station (80103), a crane boom rotation center RTK mobile station (80104), a spanning wire crossing point RTK mobile station (80105) and a spanning wire direction RTK mobile station (80106), the RTK base station (80102) is installed in a safe position at the work site and fixed; the umbrella-shaped spanning frame body RTK mobile station (80103) is installed in the spanning frame body The RTK mobile station (80104) for the rotation center of the crane arm is installed on the umbrella-shaped lower base (10202); the RTK mobile station (80104) for the rotation center of the turntable of the crane (101); the RTK mobile station (80105) for the crossing point of the crossed wire and the RTK mobile station (80106) for the direction of the crossed wire are installed directly below the crossed wire (3); the satellite positioning system (80101) is connected to the RTK base station (80102), the RTK mobile station (80310) for the umbrella-shaped crossing frame body, the RTK mobile station (80104) for the rotation center of the crane arm, the RTK mobile station (80105) for the crossing point of the crossed wire and the RTK mobile station (80106) for the direction of the crossed wire by wireless signal communication.

9. The mobile crossing frame with buffering energy absorption, lifting cleats and trajectory monitoring according to claim 8, characterized in that: The RTK base station (80102) has the same structure as the umbrella-shaped spanning frame body RTK mobile station (80103), the crane boom rotation center RTK mobile station (80104), the spanning point RTK mobile station (80105) and the spanning direction RTK mobile station (80106). All base stations include a base station circuit board (8010201), an RTK satellite positioning chip (8010202), a signal conversion chip (8010203), a base station wireless communication module (8010204) and a satellite signal transceiver antenna (8010205); the RTK satellite positioning chip (8010202), the signal conversion chip (8010203), the base station wireless communication module (8010204) and the satellite signal transceiver antenna (8010205) are installed on their respective base station circuit boards (8010201).

10. The mobile crossing frame with buffering energy absorption, lifting horns and trajectory monitoring according to claim 1 is characterized in that: The laser radar ranging system (802) is composed of a front laser radar ranging device (80201) and a rear laser radar ranging device (80202), wherein the front laser radar ranging device (80201) is mounted on the umbrella-shaped lower base (10202) of the umbrella-shaped spanning frame body, and the rear laser radar ranging device (80202) is mounted on the umbrella-shaped upper base (10203) of the umbrella-shaped spanning frame body; the combination of the front laser radar ranging device (80201) and the rear laser radar ranging device (80202) The structure is the same, consisting of a pan-tilt base plate (8020101), a horizontal motor (8020102), a vertical motor (8020103), a horizontal angle detection sensor (8020105), a vertical angle detection sensor (8020106) and a laser ranging radar (8020104). The pan-tilt base plate (8020101), the horizontal motor (8020102) and the vertical motor (8020103) form a two-axis pan-tilt, and the laser ranging radar (8020104) is installed on the output shaft of the two-axis pan-tilt.

Images