Method and device for transverse movement of a cage for high-altitude inspection and maintenance of FAST cable-driven trolley

Abstract

The application discloses a FAST cable driving trolley high-altitude inspection and maintenance cage cable transverse moving method and device, which comprises the following steps: S1. Controlling a cable crane to run along a ring beam to a corresponding position of a steel wire rope that needs to be maintained at present, fixing a lower anchoring end of a cableway to a corresponding first lifting pulley platform through a double-limb compression rigging bow-shaped shackle A and a bow-shaped shackle B, at this time, the lower anchoring end of the cableway is single-platform double-point connection; controlling a cableway basket to move to the vicinity of a trolley that needs to be maintained, and completing maintenance work of the trolley on the current steel wire rope; S2. After completing the trolley inspection and repair work on the current steel wire rope, converting the cableway single-platform double-point connection into double-platform single-point connection; moving the bow-shaped shackle B of the double-limb compression rigging of the lower anchoring end of the cableway to a second lifting pulley platform; S3. Converting the cableway double-platform single-point connection into single-platform single-point connection; and S4. Shifting to steel wire rope position maintenance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of astronomical observation and equipment maintenance, and particularly relates to a transverse moving method and device of a cage cable (cableway) for high-altitude inspection and maintenance of FAST cable-driven trolleys. BACKGROUND

[0002] The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is composed of more than 4,000 reflecting surface units to form a 500-meter spherical crown active reflecting surface. A light-weight six-cable driving mechanism and a parallel robot are used to realize high-precision positioning of a telescope receiver. The telescope comprises four process systems: a reflecting surface system, a feed support system, a measurement and control system, and a feed and receiver system.

[0003] The cable-driven mechanism in the feed support system, i.e., the flexible cable-pulled parallel robot, through six sets of winch driving mechanisms and control systems distributed in the tower bottom machine room, retracts and releases six steel wires, and parallelly pulls a 30-ton heavy feed cabin to move in an about 140-meter high altitude and an about 200-meter range, so as to realize preliminary tracking of the astronomical track by the feed cabin and preliminary positioning of the pose of the feed receiver in the cabin. Each steel wire is suspended with 65 trolleys, and the trolleys are hung with cables and optical cables as the channel for power supply and signal transmission of the equipment in the feed cabin. Adjacent trolleys are connected by double stainless steel wires (pulling ropes) to pull each other so as to avoid stress on the cables or optical cables. In order to maximize the service life of the equipment, it is necessary to regularly and comprehensively inspect and maintain the trolleys of the FAST cable-driven mechanism. The steel wires, trolleys, cables and their pulling ropes of the cable-driven mechanism are in high altitude all the year round, and the personnel accessibility is poor, the risk is high, and the equipment inspection and maintenance are difficult. Once a problem occurs, the cabin can only be lowered and the steel wire can only be released, and the workers can only try to approach the reflecting surface, and then climb the steel wire and the trolley to perform inspection and maintenance, the operation surface is narrow, and the safety risk of the high-altitude workers is great. SUMMARY

[0004] The present application aims to provide a transverse moving method and device of a cage cable (cableway) for high-altitude inspection and maintenance of FAST cable-driven trolleys. During the maintenance of the FAST, the device can accurately and efficiently transport the maintenance personnel to the vicinity of the high-altitude trolleys and other equipment that need to be inspected and maintained, and the device also provides a platform for the maintenance personnel to work in high altitude, effectively solving the shortcomings of poor accessibility of maintenance personnel, great safety risk of manual high-altitude climbing to approach the trolley and narrow operation surface in the prior art, and improving the operation efficiency.

[0005] To achieve the above object, the application provides a transverse moving method of a FAST cable drive trolley high-altitude inspection and maintenance cage (cableway), which is applied to a FAST telescope with a reflector system and a feed support system; in the feed support system, 6 support towers lead out 6 steel wires to control the movement of a feed cabin on a telescope focal plane to cooperate with astronomical observation, a plurality of trolleys for hanging cables and optical cables are arranged on each steel wire, a feed cabin parking platform is arranged at the center of the reflector, and a ring beam is arranged around the reflector; three lifting pulley platforms, i.e., a first lifting pulley platform, a second lifting pulley platform and a third lifting pulley platform, are uniformly arranged around the cabin parking platform, and a movable cable crane is arranged on the ring beam; a cableway is arranged between the lifting pulley platforms and the cable crane, a cableway basket is controlled to move along the cableway to the vicinity of a trolley to be maintained, and inspection and maintenance work is carried out; the transverse moving method comprises the following steps:

[0006] Step S1. The cable crane is controlled to run along the ring beam to a position corresponding to a steel wire to be maintained, the lower anchoring end of the cableway is fixed to the corresponding first lifting pulley platform through the arc-shaped shackles A and B of the double-limb compression rigging, at this time, the lower anchoring end of the cableway is single-platform double-point connected, the cableway basket is controlled to move along the cableway to the vicinity of the trolley to be maintained, and the maintenance work of the trolleys on the current steel wire is completed;

[0007] Step S2. After the inspection and maintenance work of the trolleys on the current steel wire is completed, the single-platform double-point connection of the cableway is converted into a double-platform single-point connection by moving the ring beam cable crane; the arc-shaped shackle B of the double-limb compression rigging of the lower anchoring end of the cableway is moved to the second lifting pulley platform;

[0008] Step S3. The double-platform single-point connection of the cableway is converted into a single-platform single-point connection by forward and reverse movement adjustment of the cable crane;

[0009] Step S4. The maintenance work is transferred to the steel wire position.

[0010] Further, in step S1, the following is included:

[0011] S1.1. The cable crane is moved to a position parallel to the cable drive steel wire, the verticality of the bearing rope, the safety rope and the traction rope is adjusted to meet the requirements of suspending the cableway basket, and the trolley maintenance of one cable drive steel wire at the first lifting pulley platform position is completed through the oblique, up and down movement of the hoist and the verticality adjustment of the cableway basket and the cable drive steel wire;

[0012] S1.2, the cableway basket is recycled to the cable crane lower platform, moved to another feeder cabin cable parallel to the first lifting pulley platform position by the cable crane, the bearing rope, safety rope, traction rope is adjusted, the cableway basket and the feeder cabin cable are adjusted by the lifting machine oblique, up and down, the first lifting pulley platform position is completed the pulley maintenance of another feeder cabin cable;

[0013] S1.3, the basket is recycled to the cable crane lower platform, the bearing rope, safety rope and traction rope of the maintenance system are loosened to the position close to the reflecting surface as far as possible, the preparation of the bearing rope, safety rope and traction rope moving with the cable crane is completed.

[0014] Further, in step S2, comprising:

[0015] S2.1, the cable crane is started to move along the ring beam to the position where the bearing rope is parallel to the long side of the first lifting pulley platform;

[0016] S2.2, the bow-shaped unhooking B of the double-limb compression rigging of the bearing rope, safety rope and traction rope hooked on the cantilever rotating ring of the box column of the first lifting pulley platform is unhooked;

[0017] S2.3, the cable crane is moved to drive the steel wire rope to the cable needing maintenance until the bow-shaped unhooking B of the bearing rope, safety rope and traction rope can be moved to the second lifting pulley platform and hooked with the corresponding rotating ring of the cantilever of the box column at the second lifting pulley platform, realizing that the bearing rope, safety rope and traction rope are respectively hooked by the first lifting pulley platform and the second lifting pulley platform.

[0018] Further, in step S3, comprising:

[0019] S3.1, the cable crane is started in the opposite direction to move along the ring beam to the position where the bearing rope is parallel to the lifting pulley platform side of the second lifting pulley platform position;

[0020] S3.2, when the cable system is at a certain angle with the bow-shaped unhooking A and the force is small, the bow-shaped unhooking A of the bearing rope, safety rope and traction rope hooked on the cantilever rotating ring of the box column of the first lifting pulley platform is unhooked;

[0021] S3.3, the bow-shaped unhooking A of the bearing rope, safety rope and traction rope is moved to the second lifting pulley platform and hooked with the corresponding rotating ring of the cantilever of the box column at the second lifting pulley platform, realizing the conversion of the bearing rope, safety rope and traction rope from being hooked by the first lifting pulley platform and the second lifting pulley platform to being individually hooked by the second lifting pulley platform.

[0022] Further, in step S4, comprising:

[0023] S4.1, the cable crane moves in the positive direction along the ring beam to a position where the load rope is parallel to the feed cabin steel wire rope of the second lifting pulley platform and stops;

[0024] S4.2, the maintenance of the two feed cabin steel wire ropes at the second lifting pulley platform is completed.

[0025] Further, step S1.1 includes:

[0026] S1.1.1. Control the feed cabin to descend to the feed cabin parking platform located at the center of the reflector, and the steel wire rope of the feed cabin is loosened to the minimum cable force state, so that the cable is close to the upper surface of the reflector;

[0027] S1.1.2. Determine the position of the steel wire rope corresponding to the trolley that needs to be maintained, control the cable crane to run along the ring beam to the position corresponding to the steel wire rope that needs to be maintained, and the upper anchor end of the cableway moves with the cable crane;

[0028] S1.1.3. Determine the lifting pulley platform corresponding to the steel wire rope where the trolley needs to be maintained, switch the lower anchor end of the cableway to the corresponding lifting pulley platform, and ensure the movement of the cableway in the vertical direction above the steel wire rope that needs to be maintained;

[0029] S1.1.4. Control the cableway basket to move along the cableway to the vicinity of the trolley that needs to be maintained, and carry out maintenance work.

[0030] In another aspect, the present application provides a transverse moving device for FAST cable-driven trolley high-altitude inspection and maintenance of the cage cable, which is used to realize the transverse moving method of the cage cable, and includes a cableway and a basket, a cable crane, and a lifting pulley platform. The lower anchor end of the cableway is provided with a double-limb compression rigging, which includes an arch-shaped shackle A and an arch-shaped shackle B.

[0031] Further, the periphery of the feed cabin parking platform is provided with three lifting pulley platforms corresponding to the positions of the steel wire rope connection points, and the included angle between each lifting pulley platform is 120 degrees. The load rope, the traction rope, and the safety rope of the cableway are all connected to the cantilever of the lifting pulley platform in a detachable manner through the rotating hooks of the double-limb compression rigging.

[0032] Further, when switching the lifting pulley platform, the basket is first recovered to the moving cable crane lower platform, and the load rope, the safety rope, and the traction rope of the cableway are loosened to the position as close to the reflector as possible through the winch.

[0033] Further, when switching the cableway from one lifting sheave platform to another, first, the bow-shaped shackles A of the load rope, the traction rope and the safety rope are disconnected from one lifting sheave platform and connected to another lifting sheave platform, the position of the cable crane is moved, then the bow-shaped shackles B of the load rope, the traction rope and the safety rope are disconnected from the other platform, so as to realize the switching of the entire cableway lower anchoring end from one platform to another platform. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 The structure diagram of the reflector system of FAST is shown;

[0035] Figure 2 The structure diagram of the feed support system of FAST is shown;

[0036] Figure 3 The structure diagram of the side surface of FAST is shown;

[0037] Figure 4 The use scene diagram of the FAST cable driving trolley aerial inspection and maintenance method based on the cage cable is shown;

[0038] Figure 5 The structure diagram of the cable crane is shown;

[0039] Figure 6 The structure diagram of the lifting sheave platform is shown;

[0040] Figure 7 The structure diagram of the cableway basket is shown;

[0041] Figure 8 The structure diagram of the rope connection is shown;

[0042] Figure 9 The structure diagram of the double limb compression rigging is shown;

[0043] Figure 10 The flowchart when switching between three lifting sheave platforms is shown;

[0044] Figure 11 The partial enlarged diagram of Figure 10 is shown. DETAILED DESCRIPTION

[0045] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0046] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0048] The following combination Figures 1-11 Specific embodiments of the present invention will be described in detail below. It should be understood that the specific embodiments described herein are for illustrative and explanatory purposes only and are not intended to limit the present invention.

[0049] like Figures 1-3 As shown, the FAST telescope comprises several major systems, including an active reflector system 100 and a feed support system 200. The active reflector system 100 is used to detect and collect cosmic astronomical signals, while the feed support system 200 is used to focus the signals collected by the reflector system, enabling the tracking of astronomical trajectories and the preliminary positioning of the feed receiver inside the cabin. The feed support system 200 is positioned above the reflector system 100.

[0050] like Figure 1 As shown, the active reflective surface system 100 includes a plurality of reflective surface units forming a parabolic shape. Figure 2 (Not shown) A spherical main cable net 101 supporting several reflector units, a ring beam 102 serving as the main cable net support structure, a pull cable 103 providing tension to the main cable net, and a feed cabin docking platform 104 located at the center of the main cable net. The several reflector units form parabolic shapes suitable for observation based on the observed object.

[0051] like Figure 2 and 3As shown, the feed support system 200 includes a feed cabin 201, multiple support towers 202 arranged around the ring beam 102, steel wire ropes 203 arranged between the support towers 202 and the feed cabin 201, a winch drive mechanism for controlling the steel wire ropes, and a control center. The feed cabin 201 is located at the focal point of the parabolic surface and is used to focus the signal collected by the reflector system. Due to the deformation of the reflector during the observation of celestial motion, the shape of the parabolic surface and the focal point position will change. Therefore, the feed cabin 201 also needs to be moved to the corresponding position by controlling each steel wire rope. For this purpose, one end of each steel wire rope 203 is connected to the feed cabin 201, and the other end is connected to the winch drive mechanism at the bottom of the support tower 202 through the top pulley of the support tower 202. The winch drive mechanism realizes the retraction and release operation of the steel wire rope. The control center achieves precise control of the position of the feed cabin 201 by controlling multiple steel wire ropes. In non-use or maintenance situations, the feed cabin 201 can be controlled to dock on the port platform 104. In a specific embodiment, a total of 6 feed support towers are set up, with 6 steel wire ropes corresponding to each tower. To achieve precise control, the control center also includes a total station, GPS, wind and temperature sensors, field monitoring devices, model solving devices, tension meters, tower top encoders, servo motor encoders, drum encoders, and a six-wire synchronous motion controller.

[0052] By controlling the release and retraction of six steel wire ropes, a feed cabin weighing up to 30 tons is moved in parallel at a height of approximately 140 meters and within a range of approximately 200 meters. Each steel wire rope suspends several pulleys 204, which are used to suspend cables and optical fibers, serving as channels for power supply and signal transmission to the equipment inside the feed cabin. Adjacent pulleys are connected by double stainless steel traction wire ropes to ensure mutual traction and prevent stress on the cables or optical fibers.

[0053] To enable high-altitude inspection and maintenance of pulleys on wire ropes, this invention provides a method and device for lateral movement of a cage cable (cage, also known as a basket, or cableway) for high-altitude inspection and maintenance of FAST cable-driven pulleys. This method allows maintenance personnel to be directly transported to the location of the pulley requiring inspection and maintenance, thus avoiding the technical problems of existing technologies where maintenance personnel must climb to the top of the support tower and slowly move by straddling the traction rope to approach the pulley, which is dangerous and results in long maintenance times due to difficult movement.

[0054] Among them, such as Figure 4 As shown, the hardware equipment used in the method includes a cable crane 300, a cableway basket 400, and a lifting pulley platform 500; high-altitude maintenance of pulleys on six cable-driven steel wire ropes is carried out through a radial half-span cable crane basket system. The cable support structure of the newly built cable-driven pulley inspection and maintenance cage is considered in conjunction with the original structure to avoid interference with the original structure, while facilitating switching between the three lifting pulley platforms.

[0055] FAST reflective surface system is provided as a spherical main cable net peripheral support structure of the ring beam 102, the ring beam 102 has an inner ring beam and an outer ring beam at the top end, the cable crane 300 is slidably arranged on the ring beam 102, and can be moved to any position of the ring beam along the ring beam 102. As shown in the figure, the cable crane 300 includes a walking mechanism, a support structure and an actuator. The walking mechanism is used to drive the cable crane to run along the track of the upper surface of the ring beam, and the walking mechanism is driven by the motor to drive the walking wheels to run forward or backward. The walking mechanism is also provided with a brake device. Figure 5

[0056] The support structure is arranged on the walking mechanism, and the support structure includes a stand 307, an inclined support frame 308 and a support 309. One side of the inclined support frame 308 is provided with a cab 311, and the cab is used to control the operation of the cable crane 300. The upper anchor end of the cableway moves with the cable crane. The upper ends of the load rope, safety rope and traction rope of the maintenance basket are connected to the top of the tower of the cable crane moving on the ring beam, and the connection mode is to directly use the fixed steel wire rope in the braking state of the winch.

[0057] The winch support 310 is provided with a tension winch 311 and a traction winch 312. The tension winch 311 is used to control the tension and relaxation of the load rope 313 forming the cableway, and the load rope 313 is connected to the tension winch 311 through the first guide pulley arranged on the winch support 310, forming the upper anchor end of the cableway; the traction winch 312 is used to control the tension and relaxation of the traction rope 314, and the traction rope 314 is connected to the traction winch 312 through the second guide pulley arranged on the winch support 310.

[0058] In addition, the cable crane 300 also includes a generator set for power supply of the inspection and maintenance device, and a cable drum is arranged in the case of cable power supply, a hydraulic station and an electrical control system.

[0059] As shown in the figure, the lifting pulley platform 500 is arranged on the feeder cabin docking platform 104 through the box column, and three lifting pulley platforms 500 are arranged corresponding to the connection position of the steel wire rope and the feeder cabin, which are called first lifting pulley platform, second lifting pulley platform and third lifting pulley platform respectively. The upper surface of each lifting pulley platform 500 serves as the lower anchor end of the radial half-span cable crane cableway. The lifting pulley platform 500 is provided with a cantilever, and the cantilever is provided with a rotating hanger ring, and the load rope of the cableway is connected with the rotating hanger ring. Figure 6

[0060] In order to facilitate conversion, the box column at the lower end and its position are optimized and adjusted: the rotating hanger ring of the cantilever of the box column between the lower end of the cableway and the large pulley of the cabin cable anchor point is connected, and the connection mode is to press the steel wire rope head with an embedded heart ring to form a heart ring steel wire rope head, as shown in the figure. Figure 8 ​​As shown, after the double-limb compression rigging is connected with the wire rope head, the rotating hook of the double-limb compression rigging is connected with the rotating lifting ring. Figure 9 As shown, the rope ends of the bearing rope, the safety rope and the traction rope all adopt the double-limb compression rigging, and each double-limb compression rigging comprises two arch-shaped shackles, which are referred to as arch-shaped shackle A and arch-shaped shackle B.

[0061] Specifically, one end of the bearing rope 313 of the cableway is connected to the cable crane 300 at a higher position, and the other end is connected to the lifting pulley platform 500 at a lower position. The cableway basket 400 is suspended on the bearing rope 313, and maintenance personnel can ride the cableway basket 400 and move along the bearing rope 313 to the position of the trolley that needs to be maintained to perform maintenance treatment.

[0062] As shown in Figure 7 The cableway basket 400 comprises a basket body 401, an oblique lifting mechanism 403, a vertical lifting mechanism 402 and a control electric box 405. The oblique lifting mechanism 403 is used to drive the cableway basket 400 to move on the bearing rope 313 in the oblique direction through the oblique lifting traction rope 404. The vertical lifting mechanism 402 is used to control the basket body 401 to ascend and descend in the vertical direction. In addition, the cableway basket 400 further comprises a worker safety rope, a safety lock and a rope collector. The oblique lifting mechanism selects a self-weight heavy and friction lifting force large rope winding mechanism. The vertical lifting mechanism fixed at both ends of the basket body 401 selects a self-weight light and friction force slightly smaller "α" form rope winding mechanism.

[0063] To this end, as shown in Figure 10 and 11 The conversion method for inspecting and maintaining the adjacent cableway trolley of the FAST according to the present application comprises the following steps:

[0064] Step S1. The lower anchoring end of the cableway is fixed to the box column end on the corresponding first lifting platform through the arch-shaped shackles A and B of the double-limb compression rigging. At this time, the lower anchoring end of the cableway is single-platform double-point connected. Then, the cable crane is operated to move along the ring beam in the ring direction to the corresponding position of the wire rope that needs to be maintained. The maintenance personnel control the cableway basket in the basket to move along the cableway to the trolley that needs to be maintained, and complete the maintenance work of the trolley on the current wire rope. Step S2. After completing the inspection and maintenance work of the trolley on the current wire rope, the basket is collected to the cable crane lower platform, and the single-platform double-point connection of the lower end anchoring point of the cableway is converted into a double-platform single-point connection, that is, the arch-shaped shackle A is retained on the first platform. The arch-shaped shackle B of the double-limb compression rigging of the lower anchoring end of the cableway is moved to the second lifting pulley platform.

[0065] Step S3. The double-platform single-point connection of the cableway lower anchoring point is converted into a single-platform single-point connection.

[0066] Step S4. Shift to the wire rope position maintenance.

[0067] Specifically, in step S1, comprising:

[0068] S1.1. Move to the position close to the steel wire rope pulley along the ring beam by the cable crane, adjust the sag of the load bearing rope, safety rope and traction rope to meet the maintenance working condition, then gradually lower the basket from the cable crane platform to the position where the steel wire rope pulley needs to be maintained, and then check and maintain the steel wire rope pulley by adjusting the oblique direction of the lifting machine and moving the cableway basket up and down to approach the steel wire rope pulley, so as to complete the pulley maintenance of one steel wire rope of the first lifting platform position.

[0069] S1.2, when it is needed to move to the position of the next steel wire rope, the basket needs to be recovered to the cable crane platform, and the load bearing rope, safety rope and traction rope of the maintenance system need to be loosened to the position close to the reflecting surface as much as possible, so as to complete the preparation for moving the load bearing rope, safety rope and traction rope along with the cable crane.

[0070] In step S2, comprising:

[0071] S2.1, start the cable crane to move along the ring beam to the position where the load bearing rope is parallel to the long side of the first lifting pulley platform, and stop;

[0072] S2.2, release the bow-shaped release buckle B of the double-limb compression rigging of the load bearing rope, safety rope and traction rope buckled on the cantilever rotating hanger ring of the box column of the first lifting pulley platform;

[0073] S2.3, start the cable crane to move to the second rope driving steel wire rope that needs to be maintained, move the bow-shaped release buckle B of the load bearing rope, safety rope and traction rope to the second lifting pulley platform, and buckle it with the corresponding rotating hanger ring of the cantilever of the box column at the second lifting pulley platform, so as to realize the common buckling of the load bearing rope, safety rope and traction rope by the first lifting pulley platform and the second lifting pulley platform.

[0074] In step S3, comprising:

[0075] S3.1, start the cable crane in the opposite direction to move along the ring beam to the position where the load bearing rope is parallel to the lifting pulley platform side of the second lifting pulley platform, and stop until the force of the cable system on the bow-shaped release buckle A is smaller;

[0076] S3.2, respectively release the bow-shaped release buckle A of the load bearing rope, safety rope and traction rope buckled on the cantilever rotating hanger ring of the box column of the first lifting pulley platform;

[0077] S3.3, move the bow-shaped release buckle A of the load bearing rope, safety rope and traction rope to the second lifting pulley platform, and buckle it with the corresponding rotating hanger ring of the cantilever of the box column at the second lifting pulley platform, so as to realize the conversion of the common buckling of the load bearing rope, safety rope and traction rope by the first lifting pulley platform and the second lifting pulley platform to the independent buckling of the second lifting pulley platform.

[0078] In step S4, comprising:

[0079] S4.1, the cable crane moves in the positive direction along the ring beam to a position where the load rope is parallel to the feed cabin steel wire rope of the second lifting pulley platform, and stops;

[0080] S4.2, complete the maintenance of the two feed cabin steel wire ropes at the second lifting pulley platform.

[0081] Further comprising in step S1.1:

[0082] S1.1.1. Control the feed cabin to descend to the feed cabin parking platform located in the center of the reflector, and loosen the steel wire rope of the feed cabin to the minimum cable force state, so that the cable is close to the upper surface of the reflector;

[0083] S1.1.2. Determine the position of the steel wire rope corresponding to the trolley that needs to be maintained, control the cable crane to run along the ring beam to the position corresponding to the steel wire rope that needs to be maintained, and move the upper anchor end of the cableway with the cable crane;

[0084] S1.1.3. Determine the lifting pulley platform corresponding to the steel wire rope where the trolley needs to be maintained, switch the lower anchor end of the cableway to the corresponding lifting pulley platform, and ensure the movement of the cableway in the vertical direction above the steel wire rope that needs to be maintained;

[0085] S1.1.4. Control the cableway basket to move along the cableway to the vicinity of the trolley that needs to be maintained, and carry out maintenance work.

[0086] In another aspect, the present application provides a conversion device for FAST adjacent cable drive trolley inspection and maintenance, which is used to realize the conversion method of FAST adjacent cable drive trolley inspection and maintenance of the present application, and comprises a cable crane, a lifting pulley platform, a cableway and a cableway basket, wherein the cable crane is located on the ring beam and can move along the ring beam, the lifting pulley platform is located on the feed cabin parking platform, the cableway is arranged between the cable crane and the lifting pulley platform, and the cableway basket can run along the cableway.

[0087] When switching the lifting pulley platform, first, the basket is retracted to the cable crane, and the load rope, safety rope and traction rope of the cableway are loosened to the position as close to the reflector as possible by the winch.

[0088] The operation process of the cableway basket is as follows: first, the controller in the cableway basket controls the oblique lifting mechanism, so that the cableway basket runs along the load rope of the cableway towards the trolley that needs to be maintained; when approaching the trolley that needs to be maintained, the vertical lifting mechanism is controlled to further approach the trolley that needs to be maintained in the vertical direction to carry out maintenance work. When the cable crane walks on the ring beam, the degree of tightening and loosening of the load rope is synchronously controlled by the tensioning winch.

[0089] The position corresponding to the steel wire rope connecting point on the feed source cabin berthing platform is provided with three lifting pulley platforms, each lifting pulley platform is arranged at an angle of 120 degrees, the load rope, the traction rope and the safety rope bearing the basket are detachably connected to the cantilever of the lifting pulley platform through the rotating hooks of the double-limb compression rigging. The double-limb compression rigging includes two arch shackles, which are referred to as arch shackle A and arch shackle B. When the cableway needs to be switched from one lifting pulley platform to another lifting pulley platform, the arch shackle A of the load rope, the traction rope and the safety rope is first disconnected from one lifting pulley platform and connected to another lifting pulley platform, and then the arch shackle B of the load rope, the traction rope and the safety rope is disconnected from the other platform, so as to realize the switching of the entire cableway from one platform to another platform.

[0090] During the maintenance process, the cable crane is moved to a position parallel to the feed source cabin cable, the load rope, the safety rope and the traction rope are adjusted (the installation of the basket device is sufficient), the basket device is suspended, the load rope, the safety rope and the traction rope are adjusted (the sag f0=19m), and the cable crane and the feed source cabin cable sag are adjusted by the inclined lifting mechanism, so as to complete the maintenance of the trolley of one feed source cabin cable at the position of the lifting pulley platform 1. First, the controller in the cableway basket controls the inclined lifting mechanism, so that the cableway basket runs along the load rope towards the direction of the trolley to be maintained; when approaching the trolley to be maintained, the vertical lifting mechanism is controlled to further approach the trolley to be maintained in the vertical direction.

[0091] In the port entry working condition, the six support steel wire ropes of the feed source cabin all suspend the cable and curtain mechanism, each steel wire rope is divided into three sections: a front section, a middle section and a tail section; the front section is a front 96.5m steel wire rope section from the cabin cable anchoring point, which is used to suspend the fixed trolley and the middle trolley, and the cable is directly fixed to the steel wire rope; the middle section is a common trolley accumulation section, which has about 5 common trolleys under the condition of the maximum cable force in the port entry, and the distance between adjacent trolleys (middle to middle) is 0.66m, so as to ensure the minimum bending radius of the cable. After the trolleys are accumulated, the cable suspended between adjacent common trolleys reaches the maximum sag, and the sag from the lower end of the cable to the steel wire rope is 2.85m. The tail section is a common trolley unfolding section, the distance between adjacent common trolleys (middle to middle) is 5m, and the number of trolleys is 60.

[0092] The upper ends of the load rope, the safety rope and the traction rope of the cableway basket are connected to the top of the cable crane moving on the uniform circumferential ring beam, and the connection mode is to directly use the fixed steel wire rope under the braking state of the winch. The lower ends are connected to the three rollers on the top of the newly designed box column of the cabin cable anchoring point large roller side, and the connection mode is to press the steel wire rope head into the embedded heart ring to form a heart ring steel wire rope head.

[0093] The driving mode of the basket: lithium battery power supply driving, low cost, convenient and flexible, easy to disassemble, charge and maintain.

[0094] The maintenance basket is located on the cable crane platform and is in a relaxed state. The cables and their hanging trolleys are in a retracted state. There is no load on the load-bearing cable, and the maintenance system is in an unloaded state. According to calculation and analysis, when the mid-span deflection is 19m, it can be ensured that the load-bearing cable has sufficient safety margin during use.

[0095] Figure 3 This is a schematic diagram of the load-bearing cable position in the no-load condition of the cable-driven pulley high-altitude maintenance system. At this time, the maintenance basket is located on the cable-stayed platform and is in a relaxed state. The cable and its hanging pulley are both in a retracted state. There is no load on the load-bearing cable, and the maintenance system is in a no-load state. According to calculation and analysis, when the mid-span deflection is 19m, it can be ensured that the load-bearing cable has sufficient safety margin during use.

[0096] Figure 4 This diagram illustrates the positional relationships of the load-bearing cables, cabin cables, and reflective surfaces under full-load conditions at mid-span of a cable-driven trolley aerial maintenance system. At this point, the maintenance cradle is fully loaded and located at the mid-span of the load-bearing cables. Cables near the cradle and their attached pulleys are taut, while cables further away and their attached pulleys are slack. A cable tensioning device is positioned near the anchorage point at one end of the cable hoist to ensure the cables are taut. The positional relationships of the cables in the diagram are calculated based on this load condition.

[0097] The Φ28mm load-bearing steel wire rope of the original cable crane under half-span conditions is used as the suspension mechanism for the pulley maintenance basket. The two-person basket has two suspension points connected by a connecting rod. Each suspension point is equipped with a double-roller pulley suspended from the load-bearing steel wire rope. It can be inclined up and down at a large angle by the inclined hoist on the load-bearing steel wire rope of the catenary cable crane and the traction rope of the galvanized basket-specific steel wire rope. The inclined climbing hoist uses a rope winding mechanism with heavy weight but high friction lifting force, while the vertical hoists fixed at both ends of the two-person basket use a lightweight "α" type rope winding mechanism with slightly lower friction.

[0098] The load-bearing rope is a main cable of the original cable crane trolley. It is connected to the winch fixed in the cab via a guide wheel at the top of the cable crane trolley tower. The steel wire rope is then fixed by using the braking state of the winch.

[0099] The safety rope utilizes the traction rope on the original cable crane trolley. It is connected to the traction winch fixed in the driver's cab via a guide wheel at the top of the cable crane trolley tower. The steel wire rope is then secured by the braking state of the traction winch.

[0100] A guide pulley is added to the frame of the cable crane trolley. The guide pulley guides the traction rope to the cable crane. The cable crane is equipped with a traction winch. The traction winch is used to fix the traction wire rope in the braking state.

[0101] The cable anchor point can realize 360° rotation in plane and 180° rotation in vertical direction through the installation of a rotating hanger ring.

[0102] When the cableway basket power unit fails and cannot move autonomously, the hitch is used to connect the traction rope with the bearing steel wire rope, and then the connection between the climbing steel wire rope and the box column rotating hanger ring is released, and the added traction rope winch is used to lift the basket to the cable crane, so that the technical problem that the cableway basket power unit fails and cannot move autonomously can be safely transported to the cable crane platform.

[0103] Under the action of wind load horizontal force, the bearing rope, the traction rope and the safety rope have large transverse displacement (displacement value 10.11-13.31m) because there is no transverse constraint in the middle of the rope. In order to avoid interference with the feeder cabin cable, the cable crane should be parked in the middle of the two feeder cabin cables when it is empty.

[0104] Any process or method descriptions of the flowchart diagrams or otherwise described herein can be understood as representing code modules, segments, or portions of code that include one or more executable instructions for implementing specific logic functions or other processes. The machine-readable media can include a storage medium or other storage(s) such as one or more of a magnetic disk, optical disk, tape, flash memory, or other computer-readable medium.

[0105] In the description of the present specification, the description referring to the terms “embodiment”, “example”, and the like means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative expressions of the above terms are not necessarily directed to the same embodiment or example. In addition, a person skilled in the art can combine or combine different embodiments or features described in the present specification without producing a contradiction.

[0106] Although the above has shown and described the embodiments of the present application, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and a person skilled in the art can make changes, modifications, replacements, and updates such as updating operations to the above embodiments within the scope of the present application.

Claims

1. A FAST cable drive trolley aerial inspection and maintenance cage transverse movement method applied to a FAST telescope having a reflector system and a feed support system; in the feed support system, 6 support towers draw out 6 steel wire ropes to pull and control the movement of the feed cabin on the telescope focal plane to cooperate with astronomical observation, a plurality of trolleys for hanging cables and optical cables are arranged on each steel wire rope, a feed cabin parking platform is arranged at the center of the reflector, and a ring beam is arranged around the periphery of the reflector; three lifting pulley platforms, namely a first lifting pulley platform, a second lifting pulley platform and a third lifting pulley platform, are uniformly arranged around the periphery of the feed cabin parking platform, and a cable crane capable of circularly moving is arranged at the top of the ring beam; a cableway is arranged between the lifting pulley platform and the cable crane, a cableway basket is controlled to carry personnel and move along the cableway to the vicinity of the trolley to be maintained, and maintenance work is carried out; characterized in that, The method includes the following steps: Step S1. Fix the lower anchoring end of the cableway to the box column end of the corresponding first lifting pulley platform using the bow-shaped shackles A and B of the double-limb pressing sling. At this time, the lower anchoring end of the cableway is a single platform with two-point connection. Then, operate the cable crane to move along the ring beam to the corresponding position of the wire rope that needs maintenance. The maintenance personnel control the cableway basket in the basket to move along the cableway to approach the pulley that needs maintenance and complete the maintenance work on the pulley of the current wire rope. Step S2. After completing the inspection and maintenance work on the pulley on the current wire rope, retract the basket to the cable-lowering platform, convert the single-platform double-point connection of the lower anchor point of the cableway to a double-platform single-point connection, keep the bow shackle A on the first platform, and move the bow shackle B of the double-limb pressing sling at the lower anchor end of the cableway to the second lifting pulley platform. Step S3. Convert the double-platform single-point connection of the cableway lower anchor point into a single-platform single-point connection; Step S4. Transfer to the wire rope position for maintenance; Step S2 includes: S2.1 Start the cable crane and move it circumferentially along the ring beam until it stops when the load-bearing rope is parallel to the long side of the first lifting pulley platform; S2.2, Release the bow-shaped shackle B of the double-limb pressing rigging of the load-bearing rope, safety rope and traction rope that are fastened to the rotating ring of the cantilever of the box column of the first lifting pulley platform; S2.3 Move the bow-shaped shackle B of the load-bearing rope, safety rope and traction rope to the second lifting pulley platform and hook it with the corresponding rotating ring of the box column cantilever at the second lifting pulley platform, so that the load-bearing rope, safety rope and traction rope are hooked together by the first lifting pulley platform and the second lifting pulley platform respectively.

2. The FAST line-driven pulley aerial inspection and maintenance cage transverse movement method according to claim 1, characterized in that, Step S1 includes: S1.

1. Move the cable crane along the ring beam to a position close to the wire rope pulley, adjust the sag of the load-bearing rope, safety rope, and traction rope to meet the maintenance conditions, and then gradually lower the basket from the cable-lifted platform to the position of the wire rope pulley that needs maintenance. Then, move the cableway basket closer to the wire rope pulley by adjusting the hoist's inclination and moving it up and down to carry out inspection and maintenance, so as to complete the pulley maintenance of one feed cabin wire rope at the position of the first lifting pulley platform. S1.2 Loosen the load-bearing rope, safety rope, and traction rope of the maintenance system as close as possible to the reflective surface to complete the preparation for the load-bearing rope, safety rope, and traction rope to move with the cable crane.

3. The method for lateral movement of the cage cable for high-altitude inspection and maintenance of the FAST cable-driven pulley according to claim 1, characterized in that, Step S3 includes: S3.

1. Move the cable crane in the opposite direction along the ring beam until it stops at a position where the load-bearing rope is parallel to the edge of the second lifting pulley platform. S3.2 When the rope system and shackle B rope are in a straight line and shackle A rope is loose, release the bow-shaped shackle A of the load-bearing rope, safety rope and traction rope that are fastened to the rotating ring of the cantilever of the box column of the first lifting pulley platform respectively; S3.3 Move the bow-shaped shackle A of the load-bearing rope, safety rope, and traction rope to the second lifting pulley platform and hook it with the corresponding rotating ring of the box-shaped column cantilever at the second lifting pulley platform, so as to realize the conversion of the load-bearing rope, safety rope, and traction rope from being hooked together by the first lifting pulley platform and the second lifting pulley platform to being hooked separately by the second lifting pulley platform.

4. The method for lateral movement of the cage cable for high-altitude inspection and maintenance of the FAST cable-driven pulley according to claim 3, characterized in that, Step S4 includes: S4.1 The cable crane moves along the ring beam in the positive direction and stops at a position where the load-bearing rope is parallel to the wire rope of the feed compartment of the second lifting pulley platform; S4.2 Complete the maintenance of the cable drive wire rope pulley at the second lifting pulley platform.

5. The method for lateral movement of the cage cable for high-altitude inspection and maintenance of the FAST cable-driven pulley according to claim 2, characterized in that, Step S1.1 includes: S1.1.

1. Control the feed cabin to descend to the feed cabin docking platform located at the center of the reflector surface, and relax the wire rope of the feed cabin to the minimum tension state so that the cable is close to the upper surface of the reflector surface; S1.1.

2. Determine the position of the wire rope corresponding to the pulley that needs maintenance, control the cable crane to run along the ring beam to the position corresponding to the wire rope that needs maintenance, and move the upper anchoring end of the cableway with the cable crane; S1.1.

3. Determine the lifting pulley platform corresponding to the wire rope where the trolley to be maintained is located, switch the lower anchoring end of the cableway to the corresponding lifting pulley platform, and ensure that the cableway moves to the top of the wire rope to be maintained in the vertical direction; S1.1.

4. Control the cableway basket to move along the cableway to the vicinity of the pulley that needs maintenance, and carry out maintenance work.

6. A lateral movement device for the cage cable of a FAST cable-driven pulley for high-altitude inspection and maintenance, the device being used to implement the lateral movement method for the cage cable of a FAST cable-driven pulley for high-altitude inspection and maintenance according to any one of claims 1-5, characterized in that, The device includes a cableway, a cable crane, and a lifting pulley platform. The lower anchoring end of the cableway is equipped with a double-limb pressing sling, which includes a bow shackle A and a bow shackle B.

7. The FAST cable-driven pulley high-altitude inspection and maintenance cage cable lateral movement device according to claim 6, characterized in that, The feed cabin docking platform is equipped with three lifting pulley platforms at the positions corresponding to the wire rope connection points. The angle between each lifting pulley platform is 120 degrees. The cableway's load-bearing rope, traction rope, and safety rope are all detachably connected to the box-shaped column cantilever of the lifting pulley platform via the rotating hooks of the double-limb pressing rigging.

8. The FAST cable-driven pulley high-altitude inspection and maintenance cage cable lateral movement device according to claim 7, characterized in that, When switching the lifting pulley platform, first retract the basket to the cable-lifted platform, and then use a winch to loosen the cableway's load-bearing rope, safety rope, and traction rope to a position close to the reflective surface.

9. The FAST cable-driven pulley high-altitude inspection and maintenance cage cable lateral movement device according to claim 6, characterized in that, When switching the cableway from one lifting pulley platform to another, firstly, the bow-shaped shackles A of the load-bearing rope, traction rope, and safety rope are detached from one lifting pulley platform and connected to the other lifting pulley platform. The cable hoist is adjusted by moving it forward and backward. Then, the bow-shaped shackles B of the load-bearing rope, traction rope, and safety rope are detached and connected to the other platform, thus realizing the switching of the entire cableway's lower anchoring end from one platform to another.

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