Synchronous operation device and method for hanging basket walking mechanism

Abstract

The invention provides a hanging basket walking mechanism synchronous operation device and method.The hanging basket walking mechanism synchronous operation device comprises two truss longitudinal beams, a plurality of sliding rails, two track beams, two synchronous control plates, a supporting frame, a driving mechanism, four threaded rods, four operation nuts and a laser range finder, and the driving mechanism drives the four threaded rods to rotate synchronously; holes are formed in the positions, corresponding to the four threaded rods, of the synchronous control panel, operation nuts are fixedly installed at the holes, internal threads of the operation nuts are matched with external threads of the corresponding threaded rods, and the driving mechanism drives the four threaded rods to rotate synchronously, so that the four operation nuts move along the corresponding threaded rods correspondingly. Therefore, the two synchronous control plates and the two truss longitudinal beams are driven to move along the sliding rails. The operation synchronism of the two truss longitudinal beams can be improved, automatic walking and accurate position adjustment of the hanging basket main truss are achieved, and the positioning accuracy and positioning efficiency of the hanging basket main truss are effectively improved.

Description

Technical Field

[0001] The invention belongs to the field of bridge construction, and in particular relates to a synchronous operation device and method for a hanging basket walking mechanism. Background Art

[0002] Under the general trend of industrial mechanization and informatization, the structural form of hanging basket equipment has been continuously updated from traditional fulcrum hanging basket to automated and digital hanging basket. Traditional hanging baskets have difficulties such as poor synchronization during operation and control, requiring collaborative operation by multiple people, large errors, and low levels of intelligence and automation. Therefore, the research on precision, intelligence and automation of bridge construction equipment is a major development trend in bridge construction.

[0003] In the existing cantilever construction, the walking control of the hanging basket still relies on manually operated hydraulic cylinders to achieve the front and rear adjustment of the hanging basket. The trusses on both sides of the hanging basket need to be equipped with a cylinder on each side, and each cylinder needs to be operated by a construction worker. The synchronization is relatively poor. This method is greatly affected by the technical level of the construction workers, the manual control error is large, the work efficiency is low, and the degree of automation is low, which greatly increases the investment in labor costs and time costs, and further curbs the rapid development of the project. Summary of the invention

[0004] The present invention aims to provide a device and method for synchronous operation of a hanging basket walking mechanism, which solves the problems of asynchronism, low efficiency, low manual control precision and large errors of the existing hanging basket walking mechanism by combining information technology, mechanical control and automatic monitoring, and realizes the automatic adjustment effect of the synchronous operation of the hanging basket walking mechanism, thereby improving work efficiency and promoting the efficient operation of the project.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] A synchronous operation device for a hanging basket walking mechanism comprises: two truss longitudinal beams, a plurality of slide rails, two track beams, two synchronous control boards, a support frame, a driving mechanism, four threaded rods, four running nuts, and a laser rangefinder. The track beam comprises a track beam top plate, a track beam web plate, a track beam bottom plate and a main control module. The two track beams are arranged in parallel on the box beam, the upper and lower ends of the track beam web plate are respectively vertically connected to the track beam top plate and the track beam bottom plate, the track beam bottom plate is fixedly connected to the box beam, a plurality of slide rails are arranged on the track beam top plate, and the plurality of slide rails are parallel to each other, the truss longitudinal beam is arranged on the corresponding track beam top plate, the lower bottom surface of the truss longitudinal beam is provided with grooves matching the plurality of slide rails, a gap is left between the lower bottom surface of the truss longitudinal beam and the corresponding track beam top plate, the support frame is fixedly arranged on the box beam, a driving mechanism is arranged on the support frame, and the driving mechanism The structure drives four threaded rods to rotate synchronously, the four threaded rods are located between the two truss longitudinal beams and are parallel to the truss longitudinal beams, holes are opened on the synchronous control board corresponding to the positions of the four threaded rods, and running nuts are fixedly installed at the openings, and the internal threads of the running nuts match the external threads of the corresponding threaded rods. The synchronous control board is perpendicular to the threaded rods, and the synchronous control board is designed in a "T" shape. The upper two ends of the synchronous control board have horizontally protruding flange plates, and the two truss longitudinal beams are provided with slots for the flange plates of the corresponding synchronous control boards to extend into. The laser rangefinder and the driving mechanism are respectively connected to and controlled by the main control module. The driving mechanism drives the four threaded rods to rotate synchronously, so that the four running nuts move along the corresponding threaded rods respectively, thereby driving the two synchronous control boards and the two truss longitudinal beams to move along the slide rail, and the laser rangefinder can measure the distance from the laser rangefinder to the adjacent synchronous control board.

[0007] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, convex strips are respectively provided on both sides of the web of the track beam, and sliding grooves are respectively provided in the convex strips, and "C"-shaped connecting rods are respectively provided on both sides of the lower part of the truss longitudinal beam, and the upper end of the "C"-shaped connecting rod is fixedly connected to the lower side surface of the truss longitudinal beam, and the lower end of the "C"-shaped connecting rod is fixedly connected to the limit slider, and the limit slider is located in the corresponding slide groove, and the slide groove has a strip opening for the lower end of the "C"-shaped connecting rod to extend into, and the strip bayonet can limit the limit slider from disengaging from the slide groove, and the convex strip, slide groove and strip opening are respectively arranged along the axial length of the track beam, and the two sides of the middle and lower part of the synchronous control plate are respectively fixedly connected to the corresponding "C"-shaped connecting rod located on the inner side, and when the synchronous control plate moves, the limit slider connected to the lower end of the "C"-shaped connecting rod moves synchronously in the corresponding slide groove.

[0008] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, the support frame is arranged on the mounting base, the mounting base is arranged on the box beam, the mounting base and the box beam are fixedly connected by a fixed threaded rod and a fixed nut, and the track beam bottom plate and the box beam are fixedly connected by a fixed threaded rod and a fixed nut.

[0009] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, three slide rails are evenly arranged on the top plate of the track beam. The slide rails are semi-cylinders with a smooth surface. The bottom surface of the truss longitudinal beam corresponding to the slide rail position is correspondingly semi-circularly concave. The concave cross-section is slightly smaller than the convex cross-section of the slide rail. When the truss longitudinal beam is installed corresponding to the slide rail on the track beam, the slide rail lifts up the truss longitudinal beam so that its bottom surface does not produce a contact surface with the surface of the track beam, thereby reducing friction resistance.

[0010] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, the driving mechanism includes four motors, and the four motors are respectively connected to and controlled by the main control module.

[0011] Preferably, in the above-mentioned synchronous operation device of the hanging basket traveling mechanism, the synchronous operation device of the hanging basket traveling mechanism further includes a belt loop, and the belt loop is sleeved on the outer sides of the four threaded rods.

[0012] Preferably, the above-mentioned hanging basket walking mechanism synchronous operation device also includes a main control panel, which is arranged on the side surface of the support frame away from the threaded rod. The main control panel is connected to the main control module, and the operator can send instructions to the main control module through the main control panel.

[0013] Preferably, in the above-mentioned hanging basket walking mechanism synchronous operation device, it also includes a master control panel, which is connected to the main control module, and the operator can send instructions to the main control module through the master control panel.

[0014] The present invention also includes a method for synchronous operation of a hanging basket walking mechanism, comprising the following steps:

[0015] Step 1, installing the above-mentioned synchronous operation device of the hanging basket walking mechanism on the box beam;

[0016] Step 2: When the main truss of the hanging basket needs to travel a distance a, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board before the driving mechanism drives the main truss of the hanging basket to travel a distance. The laser rangefinder measures the initial distance b1 and sends it to the main control module. The main control module converts the rotation direction and the number of rotations required according to the travel distance a and issues a rotation instruction to the driving mechanism. After the driving mechanism rotates the corresponding number of circles to drive the main truss of the hanging basket to travel, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board. The laser rangefinder measures the current distance bn and sends it to the main control module, which determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, the main control module notifies the driving mechanism to make adjustments until the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal.

[0017] Preferably, in the above-mentioned method for synchronous operation of the hanging basket walking mechanism, if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, the main control module notifies the driving mechanism to make adjustments until the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, comprising the following steps:

[0018] Step 21, compare the travel distance a and the difference bn-b1 between the current distance and the initial distance. If a<bn-b1, execute step 22; if a>bn-b1, execute step 23;

[0019] Step 22, if a<bn-b1, it means that the main truss of the hanging basket has traveled too much and needs to move back. The main control module converts the number of revolutions required for moving back and issues a command for the corresponding number of revolutions in the opposite direction to the driving mechanism. After receiving the command, the driving mechanism performs the corresponding operation, thereby driving the synchronous control board and the main truss of the hanging basket to move back. After the driving mechanism completes the corresponding operation, it feeds back the information to the main control module. After receiving the feedback information, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board. The laser rangefinder measures to obtain the current distance bn and sends it to the main control module. The main control module determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, then execute step;

[0020] Step 23, if a>bn-b1, it means that the main truss of the hanging basket has not moved into place and needs to continue moving. The main control module calculates the number of rotations required to continue moving and issues a command to the driving mechanism to rotate the corresponding number of circles. After receiving the command, the driving mechanism performs the corresponding operation, thereby driving the synchronous control board and the main truss of the hanging basket to continue moving. After the driving mechanism completes the corresponding operation, it feeds back the information to the main control module. After receiving the feedback information, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board. The laser rangefinder measures to obtain the current distance bn and sends it to the main control module. The main control module determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, then execute step.

[0021] Preferably, in the above-mentioned method for synchronous operation of the traveling mechanism of the hanging basket, when the travel distance a is required, the threaded rod is a standard single-threaded rod, the axial distance between two points corresponding to the middle diameter line of two adjacent teeth of the external thread of the threaded rod is d, and the travel displacement of the corresponding running nut when the threaded rod rotates one circle is d, then the number of running circles s=a / d can be calculated. After receiving the instruction, the driving mechanism performs a clockwise operation, and correspondingly drives the four-axis threaded rod to perform a synchronous operation, and the running nut is connected and fixed with the synchronous control board. When the four-axis threaded rod runs clockwise, it moves relative to the running nut, further driving the synchronous control board to move forward, and then driving the truss longitudinal beam and the entire hanging basket main truss to move forward.

[0022] It can be seen from the technical solutions disclosed above that, compared with the prior art, the beneficial effects of the present invention are as follows:

[0023] The present invention provides a synchronous operation device and method for a hanging basket walking mechanism, which adopts two truss longitudinal beams, a plurality of slide rails, two track beams, two synchronous control boards, a support frame, a driving mechanism, four threaded rods, four running nuts, and a laser rangefinder. The two truss longitudinal beams are two supporting feet of the main truss of the hanging basket. The track beam comprises a track beam top plate, a track beam web plate, a track beam bottom plate and a main control module. The two track beams are arranged in parallel on the box beam, and the upper and lower ends of the track beam web plate are respectively vertically connected to the track beam top plate and the track beam bottom plate, the track beam bottom plate is fixedly connected to the box beam, a plurality of slide rails are arranged on the track beam top plate, and the plurality of slide rails are parallel to each other, the truss longitudinal beam is arranged on the corresponding track beam top plate, the lower bottom surface of the truss longitudinal beam is provided with grooves matching the plurality of slide rails, a gap is left between the lower bottom surface of the truss longitudinal beam and the corresponding track beam top plate, the support frame is fixedly arranged on the box beam, and the support A driving mechanism is provided on the support frame, and the driving mechanism drives four threaded rods to rotate synchronously. The four threaded rods are located between the two truss longitudinal beams and are parallel to the truss longitudinal beams. Holes are opened on the synchronous control board corresponding to the positions of the four threaded rods, and running nuts are fixedly installed at the openings. The internal threads of the running nuts match the external threads of the corresponding threaded rods. The synchronous control board is perpendicular to the threaded rods, and the synchronous control board is in a "T" shape. The upper ends of the synchronous control board have horizontally protruding flange plates. The two truss longitudinal beams are provided with slots for the flange plates of the corresponding synchronous control boards to extend into. The laser rangefinder and the driving mechanism are respectively connected to and controlled by the main control module. The driving mechanism drives the four threaded rods to rotate synchronously, so that the four running nuts move along the corresponding threaded rods respectively, thereby driving the two synchronous control boards and the two truss longitudinal beams to move along the slide rail. The laser rangefinder can measure the distance from the laser rangefinder to the adjacent synchronous control board. The present invention can improve the synchronization of the operation of two truss longitudinal beams by adding a driving mechanism, four threaded rods, four running nuts and a synchronous control board. By adding a laser rangefinder, a main control module controls the laser rangefinder and the driving mechanism, so as to realize automatic movement and precise adjustment of the position of the main truss of the hanging basket, effectively improve the positioning accuracy and positioning efficiency of the main truss of the hanging basket, so that the movement of the hanging basket is transformed from manual combined with hydraulic cylinder control to more precise and professional fully automatic control, and the effect of automatic adjustment and synchronous operation when the hanging basket is moving can be achieved, thereby improving work efficiency and promoting efficient operation of the project. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view of a synchronous operation device of a hanging basket walking mechanism of the present invention.

[0025] Figure 2 It is a top view of a synchronous operation device of a hanging basket walking mechanism of the present invention (without drawing the "C"-shaped connecting rod).

[0026] In the figure: 1 is a box beam; 2 is a truss longitudinal beam; 3 is a slide rail; 4 is a track beam top plate; 5 is a track beam web plate; 6 is a track beam bottom plate; 7 is a fixed threaded rod; 8 is a fixed nut; 9 is a "C" type connecting rod; 10 is a limit slider; 11 is a slide groove; 12 is a card groove; 13 is an installation base; 14 is a main control module; 15 is a master control panel; 16 is a synchronous control panel; 17 is a support frame; 18 is a running nut; 19 is a threaded rod; 20 is a laser rangefinder. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The technical content and features of the present invention will be described in detail below by combining the enumerated embodiments with the accompanying drawings. It should be noted that the accompanying drawings are all in a very simplified form and are not in precise proportions, and are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. For the convenience of description, the "upper" and "lower" described below are consistent with the upper and lower directions of the accompanying drawings, but this cannot be a limitation of the technical solution of the present invention.

[0028] See also Figure 1 to Figure 2The present embodiment discloses a synchronous operation device for a hanging basket walking mechanism, comprising: two truss longitudinal beams 2, a plurality of slide rails 3, two track beams, two synchronous control boards 16, a support frame 17, a driving mechanism (not shown), four threaded rods 19, four running nuts 18, and a laser rangefinder 20. The two truss longitudinal beams 2 are two supporting feet of the main truss of the hanging basket. The track beam comprises a track beam top plate 4, a track beam web plate 5, a track beam bottom plate 6 and a main control module 14. The two track beams are arranged in parallel on the box beam 1, and the track beam web plate 5 is arranged on the bottom plate 6 of the track beam. The upper and lower ends of the plate 5 are respectively vertically connected to the track beam top plate 4 and the track beam bottom plate 6, the track beam bottom plate 6 is fixedly connected to the box beam 1, the track beam top plate 4 is provided with a plurality of slide rails 3, the plurality of slide rails 3 are parallel to each other, the truss longitudinal beam 2 is arranged on the corresponding track beam top plate 4, the lower bottom surface of the truss longitudinal beam 2 is provided with grooves matching the plurality of slide rails 3, a gap is left between the lower bottom surface of the truss longitudinal beam 2 and the corresponding track beam top plate 4, the support frame 17 is fixedly arranged on the box beam 1, and the support frame 17 is provided with a plurality of slide rails 3. A driving mechanism is provided, and the driving mechanism drives four threaded rods 19 to rotate synchronously. The four threaded rods 19 are located between two of the truss longitudinal beams 2 and are parallel to the truss longitudinal beams 2. Holes are opened on the synchronous control plate 16 corresponding to the positions of the four threaded rods 19, and a running nut 18 is fixedly installed at the opening. The internal thread of the running nut 18 matches the external thread of the corresponding threaded rod 19. The synchronous control plate 16 is perpendicular to the threaded rod 19, and the synchronous control plate 16 is in a "T" shape. The upper ends of the synchronous control plate 16 have horizontal convex The two truss longitudinal beams 2 are provided with a slot 12 for the flange plate of the corresponding synchronous control board 16 to extend into. The laser rangefinder 20 and the driving mechanism are respectively connected to and controlled by the main control module 14. The driving mechanism drives the four threaded rods 19 to rotate synchronously, so that the four running nuts 18 move along the corresponding threaded rods 19 respectively, thereby driving the two synchronous control boards 16 and the two truss longitudinal beams 2 to move along the slide rail 3. The laser rangefinder 20 can measure the distance from the laser rangefinder 20 to the adjacent synchronous control board 16. The present invention can improve the synchronization of the operation of the two truss longitudinal beams 2 by adding a driving mechanism, four threaded rods 19, four running nuts 18 and a synchronous control board 16. By adding a laser rangefinder 20, the main control module 14 controls the laser rangefinder 20 and the driving mechanism, so as to realize the automatic movement of the main truss of the hanging basket and the precise adjustment of the position, and effectively improve the positioning accuracy and positioning efficiency of the main truss of the hanging basket, so that the movement of the hanging basket is transformed from manual combined with hydraulic cylinder control to more precise and professional fully automatic control, and the effect of automatic adjustment and synchronous operation when the hanging basket is moving can be achieved, thereby improving work efficiency and promoting efficient operation of the project.

[0029] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, in order to make the hanging basket truss run more smoothly, convex strips are respectively provided on both sides of the web plate 5 of the track beam, and slide grooves 11 are respectively provided in the convex strips, and "C"-shaped connecting rods 9 are respectively provided on both sides of the lower part of the truss longitudinal beam 2, and the upper end of the "C"-shaped connecting rod 9 is fixedly connected to the lower side surface of the truss longitudinal beam 2, and the lower end of the "C"-shaped connecting rod 9 is fixedly connected to the limit slider 10, and the limit slider 10 is located in the corresponding slide groove 11, and the The slide groove 11 has a strip opening for the lower end of the "C"-shaped connecting rod 9 to extend into, and the strip-shaped bayonet can limit the limit slider 10 from disengaging from the slide groove 11. The convex strip, the slide groove 11 and the strip-shaped opening are respectively arranged along the axial length of the track beam, and the two sides of the middle and lower part of the synchronous control plate 16 are respectively fixedly connected to the corresponding "C"-shaped connecting rod 9 located on the inner side. When the synchronous control plate 16 moves, the limit slider 10 connected to the lower end of the "C"-shaped connecting rod 9 moves synchronously in the corresponding slide groove.

[0030] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, the synchronous control board 16 is designed in a "T" shape, and the size of the two flange plates of the T shape matches the slot 12 opened on the truss longitudinal beam 2, and the two flange plates are inserted into the slots 12 on both sides to form a temporary clamping. The two sides of the middle and lower parts of the synchronous control board 16 are respectively fixedly connected to the corresponding "C"-shaped connecting rods 9 located on the inner side, and form synchronous operation with them. Four-axis threaded rods 19 are respectively arranged at the rotating shaft within 1m of the four corner points on the support frame 17, and the four threaded rods 19 are symmetrically arranged on the upper, lower, left and right sides. The four threaded rods 19 are connected by belts to synchronously run clockwise or counterclockwise. The corresponding positions of the four threaded rods 19 on the synchronous control board 16 are designed with openings, and the running nuts 18 are fixedly installed at the openings. The size of the running nuts 18 matches the size of the threaded rods 19. When the driving mechanism performs clockwise or counterclockwise operation, the four threaded rods 19 are synchronously driven to perform the same operation. The running nut 18 is fixedly connected to the synchronous control board 16. When the four threaded rods 19 are running, they move relative to the running nut 18, further driving the synchronous control board 16 to move forward or backward, and then driving the truss longitudinal beam 2 to move forward or backward, thereby realizing the synchronous operation of the hanging basket walking mechanism. The main control module 14 is installed at one end of the top of the web of the synchronous control board 16, and is used to control the driving mechanism and the laser rangefinder 20 to perform operations.

[0031] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, the support frame 17 is arranged on the mounting base 13, and the mounting base 13 is arranged on the box beam 1, and the mounting base 13 and the box beam 1 are fixedly connected by threaded rods 19, threaded rods 19 and fixing nuts 8, and the track beam bottom plate 6 and the box beam 1 are fixedly connected by threaded rods 19, threaded rods 19 and fixing nuts 8, thereby realizing stable installation of the support frame 17 and the track beam.

[0032] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, the track beam is designed in an "I" shape, and is composed of a track beam top plate 4, a track beam web 5, and a track beam top plate 4. The two track beams are distributed in parallel on the surface of the box beam 1, and the track beam bottom plate 6 and the top plate of the box beam 1 are fixedly connected by threaded rods 19 fixing threaded rods 19 and fixing nuts 8, and the threaded rods 19 fixing threaded rods 19 penetrate the holes of the box beam 1 and the reserved holes of the ear plates of the track beam bottom plate 6, and the threaded rods 19 fixing threaded rods 19 are respectively installed with fixing nuts 8 at the upper and lower ends.

[0033] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, three slide rails 3 are evenly arranged on the top plate 4 of the track beam. The slide rails 3 are semi-cylinders with a smooth surface. The bottom surface of the truss longitudinal beam 2 corresponding to the position of the slide rail 3 is correspondingly semi-circularly concave, and the concave cross-section is slightly smaller than the convex cross-section of the slide rail 3. When the truss longitudinal beam 2 is installed corresponding to the slide rail 3 on the track beam, the slide rail 3 lifts the truss longitudinal beam 2 so that its bottom surface does not produce a contact surface with the surface of the track beam, thereby reducing friction resistance.

[0034] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, the driving mechanism includes four motors, and the four motors are respectively connected to and controlled by the main control module 14. Specifically, the four motors are respectively connected to and controlled by the same PLC controller, so that the synchronization of the operation of the four motors can be improved, thereby improving the walking synchronization of the hanging basket walking machine.

[0035] Preferably, in the above-mentioned hanging basket walking mechanism synchronous operation device, the hanging basket walking mechanism synchronous operation device also includes a belt loop, and the belt loop is arranged on the outer side of the four threaded rods 19, so that the synchronization of the rotation of the four threaded rods 19 can be further improved, thereby further improving the walking synchronization of the hanging basket walking machine.

[0036] Preferably, in the above-mentioned synchronous operation device of the hanging basket walking mechanism, a main control panel 15 is further included, and the main control panel is arranged on the side surface of the support frame 17 away from the threaded rod 19. The main control panel 15 is connected to the main control module 14. The operator can send instructions to the main control module 14 through the main control panel 15 and view various indicators of the hanging basket walking mechanism, such as walking conditions, through the main control panel, so as to facilitate the operator to control and monitor

[0037] The present invention also includes a method for synchronous operation of a hanging basket walking mechanism, comprising the following steps:

[0038] Step 1, installing the above-mentioned hanging basket walking mechanism synchronous operation device on the box beam 1;

[0039] Step 2, when the main truss of the hanging basket needs to travel a distance, the main control module 14 notifies the laser rangefinder 20 to measure the distance from the laser rangefinder 20 to the adjacent synchronous control board 16 before the driving mechanism drives the main truss of the hanging basket to travel a distance, the laser rangefinder 20 measures to obtain an initial distance b1 and sends it to the main control module 14, the main control module 14 converts the rotation direction and the number of required rotations according to the travel distance a and issues a rotation instruction to the driving mechanism for the corresponding number of rotations, after the driving mechanism rotates the corresponding number of rotations to drive the main truss of the hanging basket to travel, the main control module 14 notifies the laser rangefinder 20 to measure the distance from the laser rangefinder 20 to the adjacent synchronous control board 16, The laser rangefinder 20 measures the current distance bn and sends it to the main control module 14. The main control module 14 determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, that is, a=bn-b1, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, that is, a≠bn-b1, the main control module 14 notifies the driving mechanism to make adjustments until the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal.

[0040] Preferably, in the above-mentioned method for synchronous operation of the hanging basket walking mechanism, if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, the main control module 14 notifies the driving mechanism to make adjustments until the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, comprising the following steps:

[0041] Step 21, compare the travel distance a and the difference bn-b1 between the current distance and the initial distance. If a<bn-b1, execute step 22; if a>bn-b1, execute step 23;

[0042] Step 22, if a<bn-b1, it means that the main truss of the hanging basket has traveled too much and needs to move back. The main control module 14 converts the number of revolutions required for moving back and issues a command for the corresponding number of revolutions in the opposite direction to the driving mechanism. After receiving the command, the driving mechanism performs the corresponding operation, thereby driving the synchronous control board 16 and the main truss of the hanging basket to move back. After the driving mechanism completes the corresponding operation, the information is fed back to the main control module 14. After receiving the feedback information, the main control module 14 notifies the laser rangefinder 20 to measure the laser rangefinder 2 0 to the distance of the adjacent synchronous control board 16, the laser rangefinder 20 measures the current distance bn and sends it to the main control module 14, the main control module 14 determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, if the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, then execute step;

[0043] Step 23, if a>bn-b1, it means that the main truss of the hanging basket is not in place and needs to continue to move. The main control module 14 converts the number of revolutions required to continue to move and issues a command for the drive mechanism to rotate the corresponding number of revolutions. After receiving the command, the drive mechanism performs the corresponding operation, thereby driving the synchronous control board 16 and the main truss of the hanging basket to continue to move. After the drive mechanism completes the corresponding operation, the information is fed back to the main control module 14. After receiving the feedback information, the main control module 14 notifies the laser rangefinder 20 to measure the laser rangefinder 2 0 to the distance from the adjacent synchronous control board 16, the laser rangefinder 20 measures the current distance bn and sends it to the main control module 14, the main control module 14 determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, if the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, then execute step.

[0044] The present invention can improve the synchronization of the operation of the two truss longitudinal beams 2 by adding a driving mechanism, four threaded rods 19, four running nuts 18 and a synchronous control board 16. By adding a laser rangefinder 20, the main control module 14 controls the laser rangefinder 20 and the driving mechanism, so as to realize the automatic movement of the main truss of the hanging basket and the precise adjustment of the position, and effectively improve the positioning accuracy and positioning efficiency of the main truss of the hanging basket, so that the movement of the hanging basket is transformed from manual combined with hydraulic cylinder control to more precise and professional fully automatic control, and the effect of automatic adjustment and synchronous operation when the hanging basket is moving can be achieved, thereby improving work efficiency and promoting efficient operation of the project.

[0045] Preferably, in the above-mentioned method for synchronous operation of the hanging basket walking mechanism, when a travel distance a is required, the threaded rod 19 is a standard single-thread thread, the axial distance between two corresponding points of two adjacent teeth of the external thread of the threaded rod 19 on the mid-diameter line is d, and the travel displacement of the running nut 18 corresponding to one rotation of the threaded rod 19 is d, then the number of operating circles s=a / d can be calculated.

[0046] Specifically, when the main control module 14 receives the forward instruction from the general control system 15, it is assumed that the forward distance is a. The main control module 14 issues a distance monitoring instruction to the laser rangefinder 20. After receiving the instruction, the laser rangefinder 20 performs initial monitoring of the relative displacement between the drive mechanism and the synchronous control board 16, and feeds back the monitoring result (assuming the initial displacement is b1) to the main control module 14. After receiving the feedback information, the main control module 14 reads and archives the data, and issues a clockwise (assuming clockwise is forward and counterclockwise is backward) operation s-circle instruction to the four-axis drive actuator. Assuming that the required forward distance is a, the four-axis threaded rod 19 is a standard single-thread thread, and the axial distance between the two corresponding points on the mid-diameter line of two adjacent teeth of its thread is d. At this time, it can be assumed that the travel displacement of the corresponding running nut 18 for one rotation of the four-axis threaded rod 19 is d, and the number of operating circles s=a / d can be calculated. After receiving the instruction, the driving mechanism performs clockwise operation, and accordingly drives the four-axis threaded rod 19 to perform synchronous operation, and the running nut 18 is connected and fixed with the synchronous control board 16. When the four-axis threaded rod 19 runs clockwise, it moves relative to the running nut 18, further driving the synchronous control board 16 to move forward, and then driving the truss longitudinal beam 2 and the entire hanging basket main truss to move forward. After the driving mechanism runs s circles, the execution status is fed back to the main control module 14. After receiving the feedback, the main control module 14 issues a second relative displacement monitoring instruction between the driving mechanism and the synchronous control board 16 to the laser rangefinder 20. The laser rangefinder 20 receives the instruction to perform the corresponding displacement monitoring operation, and feeds back the result (assuming bn) to the main control module 14. The main control module 14 receives the feedback data for comparative analysis to determine whether a is equal to bn-b1.

[0047] If a=bn-b1, it means that the main truss of the hanging basket has moved forward to the position and no further operation is required.

[0048] If a<bn-b1, it means that the main truss of the hanging basket has moved forward too much and needs to move back. At this time, the main control module 14 converts the number of revolutions required to move back and issues a counterclockwise rotation instruction to the driving mechanism. After receiving the instruction, the driving mechanism performs the corresponding operation, thereby driving the synchronous control board 16 to move back, and further driving the main truss of the hanging basket to move back. After the driving mechanism completes the corresponding operation, it feeds back the information to the main control module 14. After receiving the feedback information, the main control module 14 again issues a relative displacement monitoring instruction between the driving mechanism and the synchronous control board 16 to the laser rangefinder 20. After receiving the instruction, the laser rangefinder 20 completes the operation and feeds back the result (assuming it is bn) to the main control module 14. The main control performs comparative analysis to determine whether a is equal to bn-b1. If not equal, determine the size. If a<bn-b1, continue to perform the above operation; if a>bn-b1, perform the reverse operation until a=bn-b1.

[0049] If a>bn-b1, it means that the main truss of the hanging basket has not moved forward to the right position and needs to continue to move forward, then the reverse clockwise operation is performed, referring to the above steps, until a=bn-b1, and finally the synchronous operation of the hanging basket walking mechanism is realized to ensure the overall stability and controllability of the main truss of the hanging basket.

[0050] The above description is only a description of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention. Any changes or modifications made by a person skilled in the art in the field of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A synchronous operation device for a hanging basket walking mechanism, characterized in that: include: Two truss longitudinal beams, a plurality of slide rails, two track beams, two synchronous control boards, a support frame, a driving mechanism, four threaded rods, four running nuts, and a laser rangefinder. The track beam comprises a track beam top plate, a track beam web plate, a track beam bottom plate, and a main control module. The two track beams are arranged in parallel on the box beam. The upper and lower ends of the track beam web plate are respectively vertically connected to the track beam top plate and the track beam bottom plate. The track beam bottom plate is fixedly connected to the box beam. A plurality of slide rails are arranged on the track beam top plate. The plurality of slide rails are parallel to each other. The truss longitudinal beam is arranged on the corresponding track beam top plate. The lower bottom surface of the truss longitudinal beam is provided with grooves matching the plurality of slide rails. A gap is left between the lower bottom surface of the truss longitudinal beam and the corresponding track beam top plate. The support frame is fixedly arranged on the box beam. A driving mechanism is provided on the support frame. The driving mechanism drives the four threaded rods to move synchronously. The four threaded rods are located between the two truss longitudinal beams and are parallel to the truss longitudinal beams. Holes are opened on the synchronous control board at positions corresponding to the four threaded rods. Running nuts are fixedly installed at the openings. The internal threads of the running nuts match the external threads of the corresponding threaded rods. The synchronous control board is perpendicular to the threaded rods. The synchronous control board is in a "T" shape. Both ends of the upper part of the synchronous control board have horizontally protruding flange plates. The two truss longitudinal beams are provided with slots for the flange plates of the corresponding synchronous control boards to extend into. The laser rangefinder and the driving mechanism are respectively connected to and controlled by the main control module. The driving mechanism drives the four threaded rods to rotate synchronously, so that the four running nuts move along the corresponding threaded rods respectively, thereby driving the two synchronous control boards and the two truss longitudinal beams to move along the slide rail. The laser rangefinder can measure the distance from the laser rangefinder to the adjacent synchronous control board.

2. The synchronous operation device of the hanging basket walking mechanism according to claim 1, characterized in that: The web of the track beam is provided with convex strips on both sides, and sliding grooves are provided in the convex strips respectively. "C"-shaped connecting rods are provided on both sides of the lower part of the truss longitudinal beam respectively. The upper end of the "C"-shaped connecting rod is fixedly connected to the lower side surface of the truss longitudinal beam, and the lower end of the "C"-shaped connecting rod is fixedly connected to the limit slider, and the limit slider is located in the corresponding slide groove, and the slide groove has a strip opening for the lower end of the "C"-shaped connecting rod to extend into, and the strip bayonet can limit the limit slider from leaving the slide groove, and the convex strip, the slide groove and the strip opening are respectively arranged along the axial length of the track beam, and the middle and lower sides of the synchronous control plate are respectively fixedly connected to the corresponding "C"-shaped connecting rods located on the inner side. When the synchronous control plate moves, the limit slider connected to the lower end of the "C"-shaped connecting rod moves synchronously in the corresponding slide groove.

3. The synchronous operation device of the hanging basket walking mechanism according to claim 1, characterized in that: The support frame is arranged on a mounting base, the mounting base is arranged on a box beam, the mounting base and the box beam are fixedly connected via a fixed threaded rod and a fixed nut, and the track beam bottom plate and the box beam are fixedly connected via a fixed threaded rod and a fixed nut.

4. The synchronous operation device of the hanging basket walking mechanism according to claim 1, characterized in that: Three slide rails are evenly arranged on the top plate of the track beam. The slide rails are semi-cylindrical with a smooth surface. The bottom surface of the truss longitudinal beam corresponding to the slide rail position is designed with a semi-circular concave design. The concave cross-section is slightly smaller than the convex cross-section of the slide rail. When the truss longitudinal beam is installed corresponding to the slide rail on the track beam, the slide rail lifts up the truss longitudinal beam so that its bottom surface does not contact the surface of the track beam.

5. The method for synchronous operation of a hanging basket traveling mechanism according to claim 1, characterized in that: The driving mechanism comprises four motors, and the four motors are respectively connected to and controlled by a main control module.

6. The method for synchronous operation of a hanging basket traveling mechanism according to claim 1, characterized in that: The synchronous operation device of the hanging basket walking mechanism also includes a belt loop, and the belt loop is sleeved on the outer sides of the four threaded rods.

7. The method for synchronous operation of a hanging basket traveling mechanism according to claim 1, characterized in that: It also includes a main control panel, which is arranged on the side of the support frame away from the threaded rod. The main control panel is connected to the main control module, and the operator can send instructions to the main control module through the main control panel.

8. A method for synchronous operation of a hanging basket walking mechanism, characterized in that: The steps include: Step 1, installing the synchronous operation device of the hanging basket walking mechanism as described in any one of claims 1 to 7 on the box beam; Step 2: When the main truss of the hanging basket needs to travel a distance a, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board before the driving mechanism drives the main truss of the hanging basket to travel a distance. The laser rangefinder measures the initial distance b1 and sends it to the main control module. The main control module converts the rotation direction and the number of rotations required according to the travel distance a and issues a rotation instruction to the driving mechanism. After the driving mechanism rotates the corresponding number of circles to drive the main truss of the hanging basket to travel, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board. The laser rangefinder measures the current distance bn and sends it to the main control module, which determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, the main control module notifies the driving mechanism to make adjustments until the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal.

9. The method for synchronous operation of a hanging basket traveling mechanism according to claim 8, characterized in that: If the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, the main control module notifies the driving mechanism to make adjustments until the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, including the following steps: Step 21, compare the travel distance a and the difference bn-b1 between the current distance and the initial distance. If a<bn-b1, execute step 22; if a>bn-b1, execute step 23; Step 22, if a<bn-b1, it means that the main truss of the hanging basket has traveled too much and needs to move back. The main control module converts the number of revolutions required for moving back and issues a command for the corresponding number of revolutions in the opposite direction to the driving mechanism. After receiving the command, the driving mechanism performs the corresponding operation, thereby driving the synchronous control board and the main truss of the hanging basket to move back. After the driving mechanism completes the corresponding operation, it feeds back the information to the main control module. After receiving the feedback information, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board. The laser rangefinder measures to obtain the current distance bn and sends it to the main control module. The main control module determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, then execute step; Step 23, if a>bn-b1, it means that the main truss of the hanging basket has not moved into place and needs to continue moving. The main control module calculates the number of rotations required to continue moving and issues a command to the driving mechanism to rotate the corresponding number of circles. After receiving the command, the driving mechanism performs the corresponding operation, thereby driving the synchronous control board and the main truss of the hanging basket to continue moving. After the driving mechanism completes the corresponding operation, it feeds back the information to the main control module. After receiving the feedback information, the main control module notifies the laser rangefinder to measure the distance from the laser rangefinder to the adjacent synchronous control board. The laser rangefinder measures to obtain the current distance bn and sends it to the main control module. The main control module determines whether the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal. If the travel distance a and the difference bn-b1 between the current distance and the initial distance are equal, it means that the main truss of the hanging basket has moved into place and no further operation is required; if the travel distance a and the difference bn-b1 between the current distance and the initial distance are not equal, then execute step.

10. The method for synchronous operation of a hanging basket traveling mechanism according to claim 8, characterized in that: When the travel distance a is required, the threaded rod is a standard single-thread, the axial distance between the two corresponding points on the mid-diameter line of the two adjacent teeth of the external thread of the threaded rod is d, and the travel displacement of the running nut corresponding to one circle of the threaded rod is d, then the number of running circles s=a / d can be calculated.

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