FAST cable-driven pulley high-altitude inspection and maintenance device based on cage cable

Abstract

The invention discloses a cage cable-based FAST cable-driven pulley high-altitude inspection and maintenance device, and the device is characterized in that a FAST telescope comprises a plurality of process systems, such as an active reflection surface system and a feed source supporting system; in the feed source supporting system, six steel cables are led out from six supporting towers to pull and control a feed source cabin to move on a focal plane, a plurality of pulleys used for hanging cables and optical cables are arranged on each steel cable in cooperation with astronomical observation, and the inspection and maintenance device comprises a cableway, a cable crane, a cableway hanging basket and a lifting pulley platform. The cableway is erected between the cable crane and the lifting pulley platform, and transverse movement of the cableway is achieved through walking of the cable crane. The cableway hanging basket is used for moving between the upper anchoring end and the lower anchoring end along the cableway to be close to the position of the cable driving tackle needing to be inspected and maintained, and then the cableway hanging basket is controlled by carrying maintenance personnel to vertically ascend and descend or arrives at the position of the tackle needing to be inspected and maintained along the cableway ascending / descending mechanism for inspection and maintenance.

Description

Technical Field

[0001] The invention relates to the technical field of astronomical observation and equipment maintenance, in particular to a FAST cable-driven pulley high-altitude inspection and maintenance device based on a cage cable. Background Art

[0002] The Five-hundred-meter Aperture Spherical radioTelescope (FAST) consists of more than 4,000 reflector units forming a 500-meter spherical active reflector. It uses a lightweight six-cable drag mechanism and parallel robots to achieve high-precision positioning of the telescope receiver. The telescope includes four major process systems: reflector system, feed support system, measurement and control system, and feed and receiver system.

[0003] The feed support system includes a cable drive mechanism, i.e., a flexible cable traction parallel robot. Through six sets of winch drive mechanisms and control systems distributed in the machine room at the bottom of the tower, six steel wires are retracted and released, and the 30-ton feed cabin is pulled in parallel to move at an altitude of about 140 meters and within a range of about 200 meters, so as to achieve the preliminary tracking of the astronomical trajectory by the feed cabin and the preliminary positioning of the feed receiver in the cabin. There are 65 pulleys hanging on each steel wire rope, and cables and optical cables are hung on the pulleys as channels for power supply and signal transmission of equipment in the feed cabin. Double stainless steel wire ropes (traction ropes) are used to connect adjacent pulleys to pull them together to prevent the cables or optical cables from being stressed. In order to maximize the service life of the equipment, it is necessary to conduct regular and comprehensive inspections and maintenance of the pulleys and cables of the FAST cable drive mechanism. The steel wire ropes, pulleys, cables and pulley traction ropes of the cable drive mechanism are always at high altitudes, with poor accessibility to personnel, and difficult equipment inspection and maintenance. Once a problem occurs, the only options are to lower the cabin and loosen the wire rope, as close to the reflective surface as possible, and then have workers climb up and straddle the wire rope and pulley to perform inspections and maintenance. The working surface for workers working at heights is narrow, with high safety risks, poor accessibility, and difficulty in movement. Summary of the invention

[0004] The purpose of the present invention is to provide a high-altitude inspection and maintenance device for FAST cable-driven pulleys based on a cage cable. During the shutdown and maintenance of FAST, the device can accurately and efficiently transport maintenance personnel to the vicinity of equipment such as high-altitude pulleys that need to be inspected and maintained. The device also provides a platform for maintenance personnel to work at high altitude, effectively solving the shortcomings of the prior art, such as poor accessibility of maintenance personnel, high safety risks of climbing close to the pulleys by hand, and narrow working surface, thereby improving work efficiency.

[0005] To achieve the above-mentioned purpose, the present invention provides a FAST cable-driven pulley high-altitude inspection and maintenance device based on a cage cable, wherein the FAST telescope includes a reflector system and a feed source support system; in the feed source support system, six support towers lead out six steel cables to pull and control the feed source cabin to move at the focal plane position to cooperate with astronomical observations, and a number of pulleys for hanging cables and optical cables are arranged on each steel cable, and the inspection and maintenance device includes a cableway, a cable crane on the upper part of the ring beam, a cableway basket, and a lifting pulley platform at the center of the reflector;

[0006] The cableway is installed between the cable crane and the lifting pulley platform, and the lateral movement of the cableway is achieved by the movement of the cable crane;

[0007] The cable crane is arranged on the ring beam track of the FAST telescope reflecting surface system and can move in a circular direction along the track on the top surface of the ring beam;

[0008] The lifting pulley platform is arranged at a position around the feed cabin docking platform at the center of the reflective surface, the upper anchoring end of the cableway is connected to the cable crane, and the lower anchoring end of the cableway is connected to the lifting pulley platform;

[0009] The cableway basket is used to move along the cableway between the upper anchor end and the lower anchor end to a position close to a pulley that needs repair, and then reach the position of the pulley that needs maintenance through the vertical lifting mechanism of the cableway basket and the oblique movement along the cable to inspect and maintain the pulley.

[0010] Furthermore, the cable crane includes a traveling mechanism, a supporting structure and an actuator; the traveling mechanism is used to drive the cable crane to run in a circular motion along the track on the upper surface of the ring beam, and the traveling mechanism includes an inner beam, an outer beam, a traveling wheel group, a guide wheel group and a braking device, the inner beam and the outer beam are symmetrical structures and are arranged in parallel, the inner beam and the outer beam are connected to form a base through a transversely arranged main beam and auxiliary beam, and a traveling wheel group is arranged under the inner beam and the outer beam, and a group of traveling wheel groups are respectively arranged under the two ends of the inner beam, each traveling wheel group includes two traveling wheels, and the same traveling wheels are also symmetrically arranged under the outer beam, and the traveling wheels run in a circular motion on the track.

[0011] Furthermore, the support structure is arranged on the traveling mechanism, and the support structure includes a column, an inclined support frame and a winch support, wherein the column is vertically installed on the base of the traveling mechanism, the inclined support frame is installed above the column through a slewing support device, and the winch support is installed above the inclined support frame. A cab is arranged on one side of the inclined support frame, and the cable crane is operated in the cab.

[0012] Furthermore, a tensioning winch and a traction winch are provided on the winch bracket; the tensioning winch is used to control the tensioning and relaxing of the load-bearing rope forming the cableway, and the load-bearing rope is connected to the tensioning winch through a first guide pulley provided on the winch bracket to form an upper anchoring end of the cableway; the traction winch is used to control the tensioning and relaxing of the traction rope, and the traction rope is connected to the traction winch through a second guide pulley provided on the winch bracket.

[0013] Furthermore, the upper anchoring end of the cableway moves with the cable crane, and the upper ends of the load-bearing rope, safety rope and traction rope of the cableway basket are connected to the tower top of the cable crane moving on the ring beam. The connection method is to directly use the winch to fix the wire rope in the braking state; the lower ends of the load-bearing rope, safety rope and traction rope are connected to the lifting pulley platform in the center of the reflecting surface.

[0014] Furthermore, the lifting pulley platform is arranged around the feed cabin docking platform at the center of the reflecting surface; three lifting pulley platforms are arranged corresponding to the connection position between the steel cable and the feed cabin, which can be called the first lifting pulley platform, the second lifting pulley platform and the third lifting pulley platform; the lower anchor end of the cableway can be switched among the three lifting pulley platforms, and the cage cable system formed with the cable crane can achieve 360-degree full coverage of the maintenance of the cable-driven pulley.

[0015] Furthermore, a box-type column cantilever is provided on the lifting pulley platform, a rotating ring is provided on the cantilever, and the load-bearing rope, safety rope and traction rope of the cableway are connected with the rotating ring.

[0016] Furthermore, the cableway basket includes a basket body, an oblique lifting mechanism, a vertical lifting mechanism and a control electric box; the oblique lifting mechanism is used to drive the cableway basket to move on the carrying rope in an inclined direction; the vertical lifting mechanism is used to control the lifting and lowering of the basket body in the vertical direction.

[0017] Furthermore, the cableway basket is driven by a lithium battery which can be removed to the ground for charging, making disassembly and assembly easy.

[0018] Furthermore, when the power unit of the cableway basket fails and cannot move autonomously, the traction rope and the load-bearing rope are connected by a shackle, and then the connection between the climbing wire rope and the rotating lifting ring of the box column is untied. The cableway basket is lifted to the cable hanging platform for repair through the added traction rope winch, thereby solving the technical problem of occasional malfunction of the power unit of the cableway basket and its inability to move autonomously. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The schematic diagram of the structure of the reflector system of FAST is shown;

[0020] Figure 2 The schematic diagram of the structure of the feed support system of FAST is shown;

[0021] Figure 3 A schematic diagram of the side structure of FAST is shown;

[0022] Figure 4 The schematic diagram of the structure of the FAST cable-driven pulley high-altitude inspection and maintenance device based on the cage cable is shown;

[0023] Figure 5 A schematic diagram of the cable crane structure is shown;

[0024] Figure 6 A schematic diagram of the front view of the cable crane structure is shown;

[0025] Figure 7 A partial enlarged schematic diagram of the cable crane structure is shown;

[0026] Figure 8 Shows a schematic diagram of the lifting pulley platform structure;

[0027] Fig. 9 A schematic diagram of the cableway basket structure is shown;

[0028] Fig.10 A schematic diagram of a rope connection structure is shown;

[0029] Fig.11 A schematic diagram of the double-limb suppression rigging structure is shown. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] The following combination Figure 1-Figure 11 The specific embodiments of the present invention are described in detail. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0034] like Figure 1-Figure 3 As shown, the FAST telescope includes several major process systems such as the active reflector system 100 and the feed support system 200. The active reflector system 100 is used to detect and collect cosmic astronomical signals, and the feed support system 200 is used to focus the signals collected by the reflector system to track the astronomical trajectory and preliminarily locate the position of the feed receiver in the cabin. The feed support system 200 is arranged above the reflector system 100.

[0035] like Figure 1 As shown, the active reflector system 100 includes a plurality of reflector units ( Figure 1 The spherical main cable net 101 supporting several reflective surface units, the ring beam 102 as the main cable net support structure, the lower cable 103 providing tension for the main cable net, and the feed cabin docking platform 104 located at the center of the main cable net. Several reflective surface units form a parabolic shape suitable for observation according to the observed object.

[0036] like Figure 2 and Figure 3As shown, the feed support system 200 includes a feed cabin 201, a plurality of support towers 202 arranged on the periphery of the ring beam 102, and a steel cable 203 arranged between the support tower 202 and the feed cabin 201, a winch drive mechanism and a control center for controlling the steel cable. The feed cabin 201 is at the focal position of the parabola, and is used to focus the signal collected by the reflector system. Due to the deformation of the reflector in the observation of celestial body motion, the shape of the parabola and the change of the focal position will be brought about. Therefore, the feed cabin 201 also needs to be controlled to move to the corresponding position by each steel cable. For this reason, one end of each steel cable 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, and the winch drive mechanism realizes the retraction and release operation of the steel cable. The control center realizes the precise control of the position of the feed cabin 201 by controlling multiple steel cables. In the non-use state or maintenance state, the feed cabin 201 can be controlled to dock on the port entry platform 104. In a specific embodiment, a total of 6 feed support towers are provided, corresponding to 6 steel cables. In order to achieve precise control, the control center also includes a total station, GPS, wind and temperature sensors, on-site monitoring devices, model solving devices, tension meters, tower top encoders, servo motor encoders, drum encoders, and six-cable synchronous motion controllers.

[0037] By controlling the retraction and extension of 6 steel cables, the feed cabin weighing 30 tons is pulled in parallel to move at an altitude of about 140 meters and within a range of about 200 meters. A number of pulleys 204 are hung on each steel cable. The pulleys are used to hang cables and optical cables as channels for power supply and signal transmission of equipment in the feed cabin. Adjacent pulleys are connected by double stainless steel traction cables to pull each other to prevent the cables or optical cables from being stressed.

[0038] In order to realize high-altitude inspection and maintenance of the pulley on the steel cable, the present invention provides a FAST cable-driven pulley high-altitude inspection and maintenance device based on a cage cable, through which maintenance personnel can be directly transported to the position of the pulley that needs inspection and maintenance, thereby avoiding the technical problems in the prior art that maintenance personnel need to climb to the top of the support tower and rely on straddling on the traction rope to move slowly to approach the position of the pulley that needs maintenance, which has a high risk factor and a long maintenance time due to the difficulty of moving.

[0039] For this reason, Figure 4 As shown, the FAST cable-driven pulley high-altitude inspection and maintenance device based on the cage rope according to the present invention includes a cable crane 300, a cableway basket 400 (also called a cage), and a lifting pulley platform 500; the high-altitude maintenance of the pulleys on the six cable-driven steel cables is performed through a radial half-span cable basket system. The newly constructed cage rope support structure for the inspection and maintenance of the cable-driven pulley is comprehensively considered with the original structure to avoid interference with the original structure, while facilitating switching between the three lifting pulley platforms.

[0040] The FAST reflector system is provided with a ring beam 102 as a peripheral support structure of the spherical main cable net. The ring beam 102 has an inner ring beam 1021 and an outer ring beam 1022 at the top. The cable crane 300 is slidably arranged on the ring beam 102 and can move along the ring beam 102 to any position of the ring beam. Figure 5 and Figure 6 As shown, the cable crane 300 includes a traveling mechanism, a supporting structure and an actuator. The traveling mechanism is used to drive the cable crane to run in a circular motion along the track on the upper surface of the ring beam. The traveling mechanism includes an inner beam 301, an outer beam 302, a traveling wheel group 303, a guide wheel group 304 and a braking device. The inner beam 301 and the outer beam 302 are symmetrical structures and are arranged in parallel. The inner beam 301 and the outer beam 302 are connected to form a base through a transversely arranged main beam and auxiliary beam, and a traveling wheel group 303 is arranged under the inner beam and the outer beam. A group of traveling wheel groups 303 is respectively arranged under the two ends of the inner beam, and each traveling wheel group includes two traveling wheels. The same traveling wheels are also symmetrically arranged under the outer beam. Each traveling wheel group is driven forward or backward by a motor. Tracks are respectively arranged on the upper surfaces of the inner ring beam and the outer ring beam, and the traveling wheels run in a circular motion on the tracks. As shown Figure 7 As shown, a guide wheel group 304 is also provided, and the guide wheel group 304 includes a horizontal guide wheel 3041 and a vertical guide wheel 3042; the guide wheel group 304 is installed on a guide frame 305, and the guide frame 305 is respectively arranged on the side wall of the inner beam 301 or the outer beam 302, and the position corresponding to the guide wheel on the ring beam is respectively provided with a horizontal and vertical guide surface 306. The guide wheel group is used to contact the outer side surface and the lower surface of the inner ring beam and the outer ring beam, so as to realize the guiding function when the cable crane moves relative to the ring beam. A braking device is also provided on the walking mechanism.

[0041] The support structure is arranged on the traveling mechanism, and the support structure includes a column 307, an inclined support frame 308 and a winch bracket 310. The column 307 is vertically installed on the base of the traveling mechanism, and is installed on one side close to the outer beam. The inclined support frame 308 is installed above the column 307 through a slewing support device 309, and the winch bracket 310 is installed above the inclined support frame 308. A cab 315 is arranged on one side of the inclined support frame 308, and the cable crane 300 is operated in the cab. The upper anchor end of the cableway moves with the cable crane. The upper ends of the load-bearing rope, safety rope and traction rope of the pulley maintenance basket are all connected to the top of the tower of the cable crane moving on the ring beam, and the connection method is to directly fix the wire rope in the braking state of the winch.

[0042] A tension winch 311 and a traction winch 312 are provided on the winch bracket 310. The tension winch 311 is used to control the tension and relaxation of the load-bearing rope 313 forming the cableway, and the load-bearing rope 313 is connected to the tension winch 311 through a first guide pulley provided on the winch bracket 310 to form an upper anchoring 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 a second guide pulley provided on the winch bracket 310.

[0043] In addition, the cable crane 300 further comprises a generator set for supplying power to the inspection and maintenance device, and a cable drum is also provided when power is supplied by cable.

[0044] like Figure 8 As shown, the lifting pulley platform 500 is arranged on the feed cabin docking platform 104 through a box-type column. Three lifting pulley platforms 500 are arranged correspondingly based on the connection position between the steel cable and the feed cabin, respectively referred to as the first lifting pulley platform, the second lifting pulley platform and the third lifting pulley platform. The upper surface of each lifting pulley platform 500 serves as the lower anchoring end of the radial half-span cable crane ropeway. A cantilever is provided on the lifting pulley platform 500, and a rotating ring is provided on the cantilever, and the load-bearing rope of the ropeway is connected to the rotating ring.

[0045] In order to facilitate the conversion, the box column at the lower end and its position are optimized and adjusted: the lower end of the cableway is connected to the rotating lifting ring of the pulley middle box column cantilever on the lifting pulley platform at the cabin cable anchor point. The connection method is to press an embedded heart ring on the wire rope head to form a heart ring wire rope head, such as Fig.10 As shown in the figure, after the double-limb pressing rigging is connected to the wire rope head, the rotating hook of the double-limb pressing rigging is connected to the rotating lifting ring. Fig.11 As shown, the rope ends of the load rope, the safety rope and the traction rope all adopt double-limb pressing rigging, and each double-limb pressing rigging includes two bow shackles, namely bow shackle A and bow shackle B.

[0046] Specifically, one end of the cableway's carrying rope 313 is connected to a higher-positioned cable crane 300, and the other end is connected to a lower-positioned lifting pulley platform 500. The cableway basket 400 is suspended on the carrying rope 313. Maintenance personnel can ride on the cableway basket 400 and move along the carrying rope 313 to the pulley position that needs maintenance to perform maintenance.

[0047] like Fig. 9As shown, the cableway basket 400 includes 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 load-bearing rope 313 in the oblique direction through the oblique lifting traction rope 404; the vertical lifting mechanism 402 is used to control the lifting and lowering of the basket body 401 in the vertical direction. In addition, the cableway basket 400 also includes a worker safety rope, a safety lock and a rope retractor. The oblique lifting mechanism uses a rope winding mechanism with heavy weight but large friction lifting force, and the vertical hoists fixed at both ends of the basket body 401 use an "α" type rope winding mechanism with light weight and slightly small friction force.

[0048] In the port entry condition, the six supporting cables of the feed cabin are all suspended with cables and curtain mechanisms. Each cable is divided into three sections: the front section, the middle section and the end section. The front section is the first 96.5m cable section starting from the anchor point on the cabin cable, which is used to suspend fixed pulleys and mid-length pulleys, and the cables are directly fixed on the cables. The middle section is the ordinary pulley stacking section. Under the maximum cable force in the port, there are about 5 ordinary pulleys, and the distance between adjacent pulleys (middle to middle) is 0.66m to ensure the minimum bending radius of the cable. After the pulleys are stacked, the cables suspended between adjacent ordinary pulleys reach the maximum verticality, and the verticality from the lowest end of the cable to the cable is 2.85m. The end section is the ordinary pulley deployment section, with a distance between adjacent ordinary pulleys (middle to middle) of 5m, and 60 pulleys.

[0049] The hanging basket can be driven by lithium batteries or cables. The cable solution is cheaper than the lithium battery solution, but the construction process is complicated and requires the addition of a specific pulley system and cable tightening device. The lithium battery solution causes the hanging basket to be heavier and needs to be charged every three months. The battery needs to be replaced every five years, and the maintenance cost is high.

[0050] The maintenance basket is located on the cable platform and is in a relaxed state. The cables and their mounting pulleys are in a retracted state. There is no load on the load-bearing cables 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 guaranteed that the load-bearing cables have sufficient safety margin during use.

[0051] The Φ28mm load-bearing steel wire rope of the original cable crane under half-span conditions is used as the suspension mechanism of the pulley maintenance basket. The double-person hanging basket has two suspension points connected by a connecting rod. A double roller pulley is set on each suspension point and suspended on the load-bearing steel wire rope. It can be lifted up and down with a large slope using a galvanized steel wire rope traction rope for the hanging basket on the catenary-shaped cable crane load-bearing steel wire rope. The inclined climbing hoist uses a rope winding mechanism with heavy weight but large friction lifting force. The vertical hoist fixed at both ends of the double-person hanging basket uses an "α" type rope winding mechanism with light weight and slightly small friction force.

[0052] Regarding the anchoring method of the load-bearing rope: the load-bearing rope is a main cable of the original cable crane trolley, which is connected to the winch fixed in the cockpit through a guide wheel at the top of the tower of the cable crane trolley, and then the brake state of the winch is used to fix the wire rope.

[0053] About the anchoring method of the safety rope: the safety rope uses the traction rope on the original cable crane trolley, and is connected to the traction winch fixed in the cockpit through the guide wheel at the top of the tower of the cable crane trolley, and then the braking state of the traction winch is used to fix the wire rope.

[0054] Regarding the anchoring method of the traction rope: a guide pulley is added to the cable crane trolley frame, the traction rope is pulled to the platform vehicle through the guide pulley, a traction winch is added to the platform vehicle, and the traction wire rope is fixed by utilizing the braking state of the traction winch.

[0055] The cable anchor point can be rotated 360° in the plane and 180° in the vertical direction by installing a rotating ring.

[0056] The specific maintenance methods are as follows:

[0057] S1. The cable crane moves along the ring beam to the position corresponding to the next steel cable. Move down by cable to a position parallel to the feed cabin cable, adjust the verticality of the load rope, safety rope, and traction rope (satisfying the installation of the hanging basket equipment), hang the hanging basket equipment, adjust the verticality of the load rope, safety rope, and traction rope (verticality f0 = 19m), and complete the pulley maintenance of a feed cabin cable at the position of the pulley lifting pulley platform 1 by moving the hanging basket and the feed cabin cable obliquely and up and down by the hoist.

[0058] S2. Recover the hanging basket to the cable lowering platform, move it by cable crane (about 267.6m) to be parallel to the other feed cabin steel cable at the position of lifting pulley platform 1, adjust the verticality of the load-bearing rope, safety rope and traction rope, move the hanging basket obliquely and up and down and adjust the verticality of the feed cabin steel cable by the oblique lifting mechanism and vertical lifting mechanism to complete the pulley maintenance of the other feed cabin steel cable at the position of the pulley lifting pulley platform 1.

[0059] S3. Recover the hanging basket to the mobile platform, and use the winch to loosen the load rope, safety rope and traction rope of the cableway to a position as close to the reflection surface as possible (vertical f0 = 35m), and prepare the load rope, safety rope and traction rope to move with the cable crane.

[0060] S4. After the load rope, safety rope and traction rope are moved with the cable crane and connected to another lifting pulley platform, the repair work of the pulley on the other steel cable is carried out in the same way.

[0061] When the power unit of the cableway basket fails and cannot move autonomously, the traction rope and the load-bearing rope are connected by a shackle, and then the connection between the climbing wire rope and the rotating lifting ring of the box column is untied, and the basket is pulled onto the platform vehicle by the additional traction rope winch, thereby solving the problem that the power unit of the cableway basket fails and cannot move autonomously.

[0062] Under the action of wind load horizontal force, the load rope, traction rope and safety rope have large lateral displacement (displacement value 10.11~13.31m) because there is no lateral constraint in the rope span. In order to avoid interference with the feed cabin cable, the cable platform vehicle should be parked between the two cables of one of the movable lifting pulley platforms when unloaded.

[0063] Any process or method description in the flowchart of the present invention or described in other ways herein can be understood as a module, segment or part of a code including one or more executable instructions for implementing the steps of a specific logical function or process, which can be implemented in any computer-readable medium for use by an instruction execution system, device or equipment, and the computer-readable medium can be any medium containing storage, communication, propagation or transmission programs for use by execution systems, devices or equipment, including read-only memories, magnetic disks or optical disks, etc.

[0064] In the description of this specification, the description with reference to the terms "embodiment", "example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. In addition, those skilled in the art can combine or combine different embodiments or examples described in this specification and the features therein without causing any contradiction.

[0065] Although the above contents have shown and described the embodiments of the present invention, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A high-altitude inspection and maintenance device for a FAST cable-driven pulley based on a cage cable, wherein: The FAST telescope includes a reflector system and a feed support system; in the feed support system, six feed support towers are pulled and controlled by six steel cables to move the feed cabin on the focal plane to cooperate with astronomical observations. Several pulleys for hanging cables and optical cables are arranged on each steel cable. It is characterized in that the inspection and maintenance device includes a cableway, a cable crane, a cableway basket and a lifting pulley platform; The cableway is installed between the cable crane and the lifting pulley platform, and the lateral movement of the cableway is achieved by the movement of the cable crane; the cable crane is arranged on the ring beam of the FAST reflector system and can move in a circular direction along the track on the upper surface of the ring beam; The lifting pulley platform is arranged around the feed cabin docking platform at the center of the reflective surface, the upper anchoring end of the cableway used for cable drive pulley maintenance is anchored on the top of the cable crane, and the lower anchoring end of the cableway is connected to the box column on the lifting pulley platform; The cableway basket is used to move along the cableway between the upper anchor end and the lower anchor end to a position close to a cable-driven pulley that needs repair, and then reach the position of the pulley that needs inspection and maintenance through the vertical lifting mechanism inside the cableway basket and the rope climbing mechanism to perform inspection and maintenance on the pulley.

2. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 1 is characterized in that: The cable crane includes a traveling mechanism, a supporting structure and an actuator; the traveling mechanism is used to drive the cable crane to run along the track on the upper surface of the ring beam, the traveling mechanism includes an inner beam, an outer beam, a traveling wheel group, a guide wheel group and a braking device, the inner beam and the outer beam are symmetrical structures and are arranged in parallel, the inner beam and the outer beam are connected to form a base through a transversely arranged main beam and auxiliary beam, and a traveling wheel group is arranged under the inner beam and the outer beam, a group of traveling wheel groups is respectively arranged under the two ends of the inner beam, each traveling wheel group includes two traveling wheels, and the same traveling wheels are also symmetrically arranged under the outer beam; the ring beam has an inner ring beam and an outer ring beam located at the top; tracks are respectively arranged on the upper surfaces of the inner ring beam and the outer ring beam, and the traveling wheels run on the tracks.

3. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 2 is characterized in that: The support structure is arranged on the traveling mechanism, and the support structure includes a column, an inclined support frame and a winch bracket. The column is vertically installed on the base platform of the traveling mechanism, the inclined support frame is installed above the column through a slewing support device, and the winch bracket is installed above the inclined support frame; a cab is arranged on one side of the inclined support frame, and the cable crane is operated in the cab.

4. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 3 is characterized in that: A tensioning winch and a traction winch are provided on the winch bracket; the tensioning winch is used to control the tensioning and relaxing of the load-bearing rope forming the cableway, and the load-bearing rope is connected to the tensioning winch through a first guide pulley provided on the winch bracket to form the upper anchoring end of the cableway; the traction winch is used to control the tensioning and relaxing of the traction rope, and the traction rope is connected to the traction winch through a second guide pulley provided on the winch bracket to serve as a safety rope for the cage rope system; the traction winch provides traction rope anchoring and tensioning for the lateral movement of the cableway basket along the rope, and the cableway basket moves laterally along the traction rope to any position of the rope system through an oblique lifting mechanism.

5. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 1 is characterized in that: The upper anchoring end of the cableway moves along the ring beam with the cable crane, and the upper ends of the load-bearing rope, safety rope and traction rope of the cableway basket are connected to the top of the cable crane tower that moves in a ring beam. The connection method is to directly use the winch to fix the wire rope in the braking state; the lower ends of the load-bearing rope, safety rope and traction rope are connected to the anchoring device of the lifting pulley platform at the center of the reflecting surface.

6. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 1 is characterized in that: The lifting pulley platform is arranged around the feed cabin docking platform at the center of the reflecting surface; Six steel cables are anchored to the feed cabin and connected to the cable drive room through six supporting towers. Three lifting pulley platforms are set correspondingly around the feed cabin docking platform, which are called the first lifting pulley platform, the second lifting pulley platform and the third lifting pulley platform. The lower anchor end of the cableway switches between the three lifting pulley platforms to achieve full coverage of 360-degree rotation in the annular direction.

7. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 6 is characterized in that: A box-type column cantilever with an anchor end under the cage rope is arranged on the lifting pulley platform at the center of the reflecting surface. A rotating ring is arranged on the cantilever. The load rope, safety rope and traction rope of the cableway are connected with the rotating ring.

8. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 7 is characterized in that: The cableway basket comprises a basket body, an oblique lifting mechanism, a vertical lifting mechanism and a control electric box; the oblique lifting mechanism is used to drive the cableway basket to move on the carrying rope in an inclined direction; the vertical lifting mechanism is used to control the basket body to rise and fall in the vertical direction.

9. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cable according to claim 8 is characterized in that: The cableway basket is driven by lithium batteries, which are removed to the ground for charging.

10. The high-altitude inspection and maintenance device for FAST cable-driven pulley based on cage cables according to claim 9, characterized in that: When the power unit of the cableway basket fails and cannot move autonomously, the traction rope is connected to the load-bearing rope using a shackle, and then the connection between the climbing wire rope and the rotating lifting ring of the box column is untied. The cableway basket is pulled up to the cable hanging platform through the added traction rope winch, and then the fault is repaired.

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