A fast cable-driven trolley aerial inspection and maintenance method based on a cage cable

Abstract

The application discloses a FAST cable drive trolley high-altitude inspection and maintenance method based on a cage cable, and comprises the following steps: S1. Controlling a feed source cabin to descend to a feed source cabin parking platform located at the center of a reflecting surface; S2. Determining the position of a cable drive trolley needing to be inspected and maintained, controlling a cable crane to run along a ring beam in a ring direction, and moving a cage cable laterally to the position of the cable drive trolley needing to be maintained; S3. Determining the lifting pulley platform at the center of the reflecting surface corresponding to the steel wire rope, and switching the lower anchoring end of the cableway to the lifting pulley platform; S4. Controlling the cableway basket to ascend, descend or move along the cableway to the accurate position of the trolley needing to be inspected and maintained, carrying out maintenance work, moving the cable crane and replacing the anchoring corresponding lifting pulley platform after the trolley inspection and maintenance work on one steel wire rope is completed, moving the cableway laterally to the position of the next steel wire rope, and moving the basket obliquely to the cable crane lower platform until the maintenance work is completed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of astronomical observation and equipment maintenance, and particularly relates to a FAST cable drive trolley high-altitude inspection and maintenance method based on a cage cable. 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 drive mechanism in the feed support system, i.e., the flexible cable traction parallel robot, retracts and releases six steel wires through six sets of winch driving mechanisms and control systems distributed in the tower bottom machine room, and parallelly tractions a 30-ton heavy feed cabin to move on the focal plane within a range of about 140 meters in height and about 206 meters, so as to realize tracking of the astronomical trajectory by the feed cabin and 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 channels for power supply and signal transmission of the equipment in the feed cabin. Adjacent trolleys are connected by double stainless steel wires (traction ropes) to be tractioned with each other to avoid stress on the cables or optical cables. In order to ensure the structural stability of the FAST and prolong the service life to the greatest extent, it is necessary to regularly and comprehensively inspect and maintain the structure of the FAST. The FAST is currently observed all-weather, all-year round, and the cable drive steel wires, trolleys, cables and the like of the FAST are in high-altitude positions all year round, and personnel accessibility is poor, so that equipment inspection and maintenance are difficult. In recent years, the cable drive steel wires often have the phenomenon of oil sludge accumulation and hardening, which further causes the cable drive trolleys to be stuck and the telescope to stop observing. The trolleys, pulleys and guide ropes often have problems, and immediate maintenance is required, which brings risks to the operation of the telescope and great challenges to the on-site maintenance work. When such problems occur, the cabin can only be lowered and the steel wires are released, and the workers try to approach the reflecting surface as much as possible, and then climb up and ride on the steel wires and trolleys to perform inspection and maintenance. Such a maintenance method has problems such as narrow working surface, difficult high-altitude maintenance and great safety risks. SUMMARY

[0004] The purpose of the present application is to provide a FAST cable drive trolley high-altitude inspection and maintenance method based on a cage cable. During FAST shutdown maintenance, the method can accurately and efficiently transport maintenance personnel to the vicinity of the cable drive trolley that needs to be inspected and maintained, and at the same time provides a safe and efficient high-altitude work platform for the maintenance personnel, effectively solving the shortcomings of poor accessibility of maintenance personnel, high 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-mentioned purpose, the present application provides a FAST cable drive trolley high-altitude inspection and maintenance method based on a cage cable, which is applied to a FAST telescope with a reflector system and a feed support system. In the feed support system, a plurality of support towers control the position of the feed cabin relative to the reflector system through a plurality of steel wires. A plurality of trolleys for hanging cables and optical cables are arranged on each steel wire. A feed cabin docking platform and a cable crane are also provided. The method comprises the following steps:

[0006] Step S1. Control the feed cabin to descend to the docking platform located at the center of the reflector, and loosen the cable drive steel wire to a suitable catenary state to make it close to the upper side of the reflector.

[0007] Step S2. Determine the corresponding position of the cable drive trolley that needs to be inspected and maintained, control the cable crane to run along the ring beam to the corresponding position of the cable drive trolley that needs to be maintained, and move the upper anchoring end of the cableway along with the cable crane.

[0008] Step S3. Determine the corresponding lifting pulley platform at the center of the reflector of the cable drive trolley where the trolley needs to be maintained, switch the lower anchoring end of the cableway to the corresponding lifting pulley platform, and ensure that the cableway moves above the cable drive trolley that needs to be maintained in the vertical direction.

[0009] Step S4. The maintenance personnel operate the cableway basket to move from the cable crane platform along the cableway to the vicinity of the cable drive trolley that needs to be maintained, and carry out maintenance work by the maintenance personnel. After completing the inspection and maintenance work of one cable drive trolley, the maintenance personnel control the basket to retreat to the cable crane platform and dock well, then move the cable crane and the corresponding lifting pulley platform, switch the cableway to the corresponding position of the next cable drive trolley that needs to be maintained, complete the inspection and maintenance work of the trolley on the next steel wire, and after completing this operation, control the basket to retreat to the cable crane lower platform and dock.

[0010] Further, in step S1, there are six feed cabin steel wires, one end of each steel wire is connected to the feed cabin, the other end is connected to the support tower, the support tower is located outside the ring beam, and the loosening of the steel wire is realized through the cable drive winch drive mechanism at the bottom of the support tower.

[0011] Further, the load rope of the gondola cable system is connected to the top hoist of the higher-positioned ring beam cable crane at one end and to the center lifting pulley platform box column of the lower-positioned reflector at the other end, and the gondola is suspended on the load rope, so that the maintenance personnel can ride the gondola and move along the load rope to the position of the cable drive trolley that needs to be maintained to perform maintenance treatment.

[0012] Further, the upper ends of the load rope, the safety rope and the traction rope of the gondola cable system are connected to the top of the tower of the cable crane, and the connection mode is to be connected with the cable hoist and to be fixed by the hoist brake. The load rope is a main cable of the cable crane trolley, which is connected with the hoist at the top of the tower of the cable crane trolley through a guide wheel, and the length of the steel wire rope is fixed by the brake function of the hoist. The safety rope is connected with the traction rope of the original cable crane trolley at the top of the tower of the cable crane trolley through a guide wheel, and the length of the steel wire rope is fixed by the brake function of the traction winch.

[0013] Further, the cableway gondola comprises a basket body, an inclined lifting mechanism, a vertical lifting mechanism and a control electric box. The inclined lifting mechanism is used to drive the cableway gondola to move on the load rope in the inclined direction through the inclined lifting traction rope. The vertical lifting mechanism is used to control the basket body to ascend and descend in the vertical direction.

[0014] Further, the cableway gondola further comprises a work personnel safety rope, a safety lock and a rope collector.

[0015] Further, the cableway gondola is a double-person gondola, which uses the load rope under the half-span condition as the suspension mechanism of the cable drive trolley maintenance gondola. The double-person gondola is provided with two suspension points connected by a connecting rod, and a double-roller trolley is arranged on each suspension point to be suspended on the load steel wire rope and to ascend and descend in the inclined direction along the catenary load rope by the traction rope of the gondola.

[0016] Further, in step S4, the cable crane is moved to a position parallel to the cable drive of the feeder cabin, the sag of the load rope, the safety rope and the traction rope is adjusted to meet the installation requirements of the gondola, the gondola equipment is suspended, the sag of the load rope, the safety rope and the traction rope is adjusted to the set size, the gondola equipment is suspended, and the sag of the load rope, the safety rope and the traction rope is adjusted, and the cableway gondola is moved in the inclined direction and up and down by the inclined lifting mechanism and the vertical lifting mechanism to the position of the trolley that needs to be maintained.

[0017] Further, the set size is a sag f0=19m.

[0018] Further, the cableway basket operation process is as follows: first, the controller in the cableway basket controls the oblique lifting mechanism, so that the cableway basket drives along the bearing rope towards the direction of the cable drive trolley needing maintenance; when running close to the trolley needing maintenance, the vertical lifting mechanism is controlled to further approach the cable drive trolley needing maintenance in the vertical direction, and after the maintenance work is completed, the maintenance personnel operate the basket to retreat to the cable crane platform for parking. BRIEF DESCRIPTION OF DRAWINGS

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

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

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

[0022] Figure 4 The use scene schematic diagram of the high-altitude inspection and maintenance method of the cable drive trolley of FAST based on the cage cable is shown;

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

[0024] Figure 6 The structure schematic diagram of the lifting pulley platform is shown;

[0025] Figure 7 The structure schematic diagram of the cableway basket is shown;

[0026] Figure 8 The structure schematic diagram of the rope connection is shown;

[0027] Figure 9 The structure schematic diagram of the double-limb pressing rigging is shown. DETAILED DESCRIPTION

[0028] The technical solutions of the present application will be described clearly and completely below in combination 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 protection scope of the present application.

[0029] 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.

[0030] 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.

[0031] The following combination Figures 1-9 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.

[0032] like Figure 1 As shown, the FAST telescope includes a reflector system 100 and a feed support system 200. The 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.

[0033] like Figure 2 As shown, the 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.

[0034] like Figure 3As shown, the feed support system 200 includes a feed cabin 201, a plurality of support towers 202 arranged at the periphery of the ring beam 102, and steel wires 203 arranged between the support towers 202 and the feed cabin 201, a winch driving mechanism for controlling the steel wires, and a control center. The feed cabin 201 is located at the focal point of the parabola for focusing the signals collected by the reflector system. Due to the deformation of the reflector in the movement of the observed celestial body, the shape of the parabola and the position of the focal point will change, so the feed cabin 201 also needs to be moved to the corresponding position through each steel wire. For this purpose, one end of each steel wire 203 is connected to the feed cabin 201, and the other end is connected to the winch driving mechanism at the bottom of the support tower 202 through the top pulley of the support tower 202. The winch driving mechanism realizes the retraction and release operation of the steel wire. The control center realizes the accurate control of the position of the feed cabin 201 by controlling a plurality of steel wires. In a non-use state or maintenance condition, the feed cabin 201 can be controlled to stop at the docking platform 104. In a specific embodiment, six support towers are provided, and six steel wires are correspondingly provided. In order to realize accurate control, the control center further includes a total station, a GPS, a wind and temperature sensor, a field monitoring device, a model solving device, a tension instrument, a tower top encoder, a servo motor encoder, a reel encoder, and a six-cable synchronous motion controller.

[0035] By controlling the retraction and release of the six steel wires, the feed cabin weighing up to 30 tons is pulled in parallel to move in the air about 140 meters high and about 200 meters away. Each steel wire is suspended with a plurality of trolleys 204 for hanging cables and optical cables as a channel for power supply and signal transmission of the equipment in the feed cabin. The adjacent trolleys are connected by double stainless steel traction steel wires to pull each other to prevent the cables or optical cables from being stressed.

[0036] In order to realize the high-altitude inspection and maintenance of the cable-driven trolley and other equipment and facilities, the application provides a FAST cable-driven trolley high-altitude inspection and maintenance method based on a cage cable. Through this method, maintenance personnel can be directly transported to the trolley position that needs to be inspected and maintained, thereby avoiding the technical problems of large risk coefficient, narrow operation surface, and difficult movement in the prior art, in which maintenance personnel need to climb the cable-driven trolley and slowly move by straddling the cable-driven trolley to approach the cable-driven trolley position that needs to be maintained.

[0037] Therefore, the FAST cable-driven trolley high-altitude inspection and maintenance method based on a cage cable according to the application is as follows:

[0038] Step S1. Control the feed cabin to descend to the docking platform located at the center of the reflector and anchor it, and appropriately loosen the cable-driven steel wire; so that the cable is close to the top of the reflector;

[0039] Step S2. Determine the need to check the maintenance of the steel wire rope and the position of the cable car, control the cable crane to run along the ring beam, the upper anchoring end of the gondola cableway is the top of the cable crane, and the gondola cable can be moved transversely to the position of the need to maintain the cable driven steel wire rope; the lower anchoring end of the gondola cableway is the lifting pulley platform around the cabin docking platform, and the upper anchoring end and the lower anchoring end are connected to form a gondola cableway; Step S3. Determine the position corresponding to the cable driven steel wire rope that needs to be maintained, switch the lower anchoring end of the cableway to the corresponding lifting pulley platform, and ensure that the cableway moves to the above of the cable driven steel wire rope that needs to be maintained in the vertical direction;

[0040] Step S4. The maintenance personnel control the gondola to go up and down from the cable crane platform to the cable driven pulley area, and control the gondola (gondola) to rise and fall, or move along the cableway to the accurate position of the pulley that needs to be checked and maintained, and carry out maintenance work. After completing the pulley inspection and maintenance work on one steel wire rope, the maintenance personnel control the gondola to return to the cable crane platform, move the cable crane and replace the corresponding lifting pulley platform of the cable system, move the gondola transversely to the position of the next steel wire rope, and complete the pulley inspection and maintenance work on the next steel wire rope. Until the completion of this maintenance work, and move the gondola to the cable crane platform.

[0041] Specifically, in step S1, the feeder cabin is lowered to the docking platform and anchored, and the six steel wire ropes are appropriately loosened to facilitate the maintenance personnel to check and maintain the pulley and cable on the cable driven steel wire rope through the gondola.

[0042] In step S2, the upper anchoring point of the gondola cable system is the top of the cable crane on the ring beam, and the lower anchoring point is the lifting pulley platform box column at the center of the reflecting surface. The upper and lower anchoring points are connected to form a maintenance cableway. 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 anchoring end of the gondola cableway moves with the cable crane. When the cable crane walks on the ring beam, the tension winch is used to control the tightening and loosening degree of the bearing rope synchronously.

[0043] In step S3, three lifting pulley platforms are provided around the feeder cabin docking platform, which are the lower connecting anchoring points corresponding to the gondola cable system. The included angle between each lifting pulley platform is 120 degrees. The bearing rope, traction rope and safety rope of the bearing gondola are connected to the box column of the lifting pulley platform in a detachable manner through the rotating hooks of the double limb compression rigging. When different cable driven pulleys need to be maintained, the gondola cableway is switched from one lifting pulley platform to another lifting pulley platform, and the cable crane is opened to realize the translation and conversion of the entire gondola cable system.

[0044] In step S4, the cable is moved to a position parallel to the feed cabin wire rope. The sag of the load-bearing rope, safety rope, and traction rope is adjusted. The suspended platform is controlled to move downwards from the cable-lifted platform. The sag of the load-bearing rope, safety rope, and traction rope is adjusted (sag f0 = 19m). The maintenance of the pulley of one feed cabin cable at position 1 is completed by adjusting the sag of the suspended platform and the feed cabin cable by moving the hoist obliquely up and down. First, the oblique lifting mechanism is controlled by the controller inside the cableway suspended platform to make the cableway suspended platform move along the load-bearing rope towards the pulley that needs maintenance. When it moves close to the pulley that needs maintenance, the vertical lifting mechanism is controlled to move further closer to the cable-driven pulley that needs maintenance in the vertical direction.

[0045] The hardware 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 performed using a radial half-span cable-driven basket system. The newly constructed support structure for the cable-driven pulley inspection and maintenance cage cable (in this invention, the cage is also called the basket cableway or simply the cableway) is designed in conjunction with the existing structure to avoid interference and facilitate switching between the three lifting pulley platforms.

[0046] like Figure 4 As shown, the FAST reflector system is provided with a ring beam 102 as a peripheral support structure for the spherical main cable net. The ring beam 102 has an inner ring beam and an outer ring beam at the top. The cable crane 300 is slidably mounted on the ring beam 102 and can move along the ring beam 102 to any position on the ring beam.

[0047] like Figure 5 As shown, the cable crane 300 includes a traveling mechanism, a support structure, and an actuator. The traveling mechanism drives the cable crane to run along the track on the upper surface of the ring beam 102. The ring beam 102 has an inner ring beam 1021 and an outer ring beam 1022 located at the top. The traveling mechanism's various wheel sets are driven forward or backward by a motor. The traveling mechanism is also equipped with a braking device.

[0048] The support structure is mounted on the traveling mechanism and includes a column 307, an inclined support frame 308, and a winch support 309. A driver's cab 315 is located on one side of the inclined support frame 308, where the cable crane 300 is operated. The upper anchoring 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. The connection method is to directly use the wire ropes fixed in the braking state of the winch.

[0049] 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 tensioning and loosening of the load-carrying rope 313 of the cableway, and the load-carrying rope 313 is connected to the tension winch 311 through a first guide pulley provided on the winch support 310 to form the upper anchoring end of the cableway; the traction winch 312 is used to control the tensioning and loosening 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 support 310.

[0050] In addition, the cable crane 300 further comprises a generator set for supplying power to the inspection and maintenance device, a cable drum is further provided in the case of cable power supply, a hydraulic station and an electrical control system.

[0051] As shown in Figure 6 , the lifting pulley platform 500 is arranged around the feeder cabin landing platform 104 through the box column 501, and three lifting pulley platforms 500 are arranged based on the connection position of the steel wire rope and the feeder cabin, which are 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 cage cableway. The lifting pulley platform 500 is provided with a cantilever, and the cantilever is provided with a rotating hanger ring, and the load-carrying rope of the cage cableway is connected to the rotating hanger ring.

[0052] 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 at the middle of the large pulley between the lower end of the cableway and the cabin cable anchoring point is connected, as shown in Figure 8 , the connection mode is to press a heart-shaped ring into the steel wire rope head to form a heart-shaped ring steel wire rope head, and then connect the double-limb pressing rigging with the steel wire rope head, as shown in Figure 9 , the rotating hook of the double-limb pressing rigging is connected to the rotating hanger ring. The rope ends of the load-carrying rope, the safety rope and the traction rope all adopt double-limb pressing rigging, and each double-limb pressing rigging includes two arc-shaped shackles, which are referred to as arc-shaped shackle A and arc-shaped shackle B, for facilitating mutual conversion of maintenance of different cable-driven trolleys.

[0053] Specifically, one end of the load-carrying 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, and the cableway basket 400 is suspended on the load-carrying rope 313, and the maintenance personnel can ride the cableway basket 400 and move along the load-carrying rope 313 to the position of the trolley to be maintained for maintenance treatment.

[0054] As shown in Figure 7As 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 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 includes a work personnel safety rope, a safety lock and a rope collector. The oblique climbing lifting machine selects a self-heavy but large-friction lifting rope mechanism, and the vertical lifting machines fixed at both ends of the basket body 401 select self-light but slightly smaller-friction "a" form rope winding mechanisms.

[0055] When the feeder cabin is in the port working condition, the 6 steel wires of the feeder cabin are all suspended with the cable and curtain mechanisms, and each steel wire 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 section starting from the anchoring point on the cabin cable, which is used to suspend the fixed trolley and the middle trolley, and the cable is directly fixed on the steel wire; the middle section is a common trolley stacking section, and there are about 5 common trolleys under the maximum cable force in the port, and the distance between the adjacent trolleys (middle to middle) is 0.66m, so as to ensure the minimum bending radius of the cable. After the trolleys are stacked, the cable suspended between the adjacent common trolleys reaches the maximum sag, and the sag from the lower end of the cable to the steel wire is 2.85m. The tail section is a common trolley unfolding section, and the distance between the adjacent common trolleys (middle to middle) is 5m, and the number of trolleys is 60.

[0056] The upper ends of the bearing rope, the safety rope and the traction rope of the cableway basket are connected with the top of the cable crane moving on the uniform circumferential ring beam, the connection mode is anchoring on the cable crane winch, and the length of the steel wire is fixed by using the brake function of the winch. The lower end of the cable system is on the box column on the lifting pulley platform at the center of the reflecting surface, and the connection mode is to press the steel wire head into the heart ring to form the heart ring steel wire head.

[0057] The driving mode of the basket: lithium battery or cable power supply, the cable scheme is the traditional power supply mode, the operation process is complex, and specific pulley systems and cable tightening devices need to be added; the lithium battery scheme is a new type of power supply scheme, which is efficient, flexible and requires less maintenance. After optimization and comparison, the lithium battery power supply scheme is selected.

[0058] The basket is normally parked on the cable crane platform, and the maintenance system is in an unloaded state. According to the calculation and analysis, when the mid-span deflection is 19m, it can be ensured that the cable system of the basket can maintain a sufficient safety distance with the reflecting surface during use.

[0059] Figure 3The schematic diagram of the load-bearing cable position of the cable-driven trolley high-altitude maintenance system under the empty load condition. At this time, the gondola is located on the cable crane platform, the cable is in a relaxed state, and the maintenance system is in an empty load state. According to the calculation analysis, when the mid-span deflection is 19m, it can be ensured that the gondola cable system can maintain a sufficient safety distance from the reflecting surface during use.

[0060] Figure 4 The schematic diagram of the load-bearing cable, cabin cable, and reflecting surface position relationship of the cable-driven trolley high-altitude maintenance system under the mid-span full load condition. At this time, the maintenance gondola is fully loaded at the mid-span position of the load-bearing cable of the maintenance system, the cables near the gondola and their attached small trolleys are in a tightened state, the cables far away and their attached small trolleys are in a relaxed state, the load-bearing cable is arranged near the anchoring point at one end of the cable crane, and the cable tightening device is arranged to ensure the tightening state of the cable. The position relationship of each cable in the figure is calculated according to the load state at this time.

[0061] The Φ28mm load-bearing steel wire rope of the original cable crane under the half-span condition is used as the suspension mechanism of the trolley maintenance gondola. The two-person gondola has two suspension points connected by a connecting rod. Each suspension point is provided with a double-roller trolley suspended on the load-bearing steel wire rope and can be lifted vertically on the catenary cable crane load-bearing steel wire rope using a galvanized gondola special steel wire rope traction rope with a large inclination. The vertically climbing hoist selects a self-weight heavy but friction lifting force large winding rope mechanism, and the two-person gondola is fixed at both ends of the vertical hoist which selects a self-weight light and slightly smaller friction force "α" form winding rope mechanism.

[0062] The load-bearing rope is a main cable of the original cable crane trolley. It is connected with the winch at the top of the cable crane trolley tower through a guide wheel, and the steel wire rope is fixed in the braking state of the winch.

[0063] The safety rope is a traction rope on the original cable crane trolley. It is connected with the traction winch at the top of the cable crane trolley tower through a guide wheel, and the steel wire rope is fixed in the braking state of the traction winch.

[0064] A guide pulley is added at the top of the cable crane trolley. The traction rope is guided to the platform car through the guide pulley. The platform car is provided with a traction winch, and the traction steel wire rope is fixed by using the braking function of the traction winch.

[0065] The gondola cable system lower cable anchor point can realize 360° rotation in the plane and 180° vertical rotation by installing a rotating hanger.

[0066] When the cableway gondola power unit fails and cannot move autonomously, the traction rope is connected with the load-bearing steel wire rope by unloading the buckle, and then the connection between the gondola traction steel wire rope and the box column rotating hanger is released. The gondola is lifted to the platform car by the cable crane traction rope winding winch, thereby solving the technical problem of safely withdrawing the cableway gondola power unit to the cable crane platform when it fails and cannot move autonomously.

[0067] The carrying rope, the traction rope and the safety rope have large transverse displacement (displacement value 10.11-13.31m) under the action of the wind load horizontal force because the rope span is not transversely constrained. In order to avoid interference with the cable of the feeder cabin, the cable crane should be parked on the 1H ring beam in the no-load state and not interfere with the position of the cable drive.

[0068] 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 which include one or more executable instructions for implementing specific logic functions or other operations as described in the process or method steps. The code can be executed by a processing unit, which can include one or more processors, such as a computer, a network server, or that of any other machine capable of executing code modules, segments, or portions.

[0069] 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 the different embodiments or examples described in the present specification and the features thereof without producing a contradiction.

[0070] 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 updating operations such as variations to the above embodiments within the scope of the present application.

Claims

1. A high-altitude inspection and maintenance method for FAST telescope based on a cable-driven trolley, applied to the FAST telescope which has a reflector system and a feed support system; in the feed support system, six steel wire ropes extend from six support towers to pull and control the movement of the feed cabin on the telescope's focal plane, and several trolleys for suspending cables and optical cables are installed on each steel wire rope; a feed cabin docking platform is set at the center of the bottom of the reflector for lowering and docking the feed cabin; the reflector system is equipped with a cable crane that travels on the ring beam; characterized in that, The method includes the following steps: Step S1. Control the feed cabin to descend to the docking platform located at the center of the reflector and anchor it, and loosen the cable drive wire rope appropriately; Step S2. Determine the location of the wire rope and pulley that need to be inspected and maintained, control the cable crane to run circumferentially along the ring beam, the upper anchoring end of the basket cableway is the top of the cable crane, and as the cable crane moves, move the cage cable laterally to the location of the cable drive wire rope pulley that needs to be maintained; the lower anchoring end of the basket cableway is the lifting pulley platform around the cabin docking platform, and the upper anchoring end and the lower anchoring end are connected to form a basket cableway; Step S3. Determine the location of the cable-driven wire rope pulley that needs maintenance, switch the lower anchoring end of the cableway to the corresponding lifting pulley platform, and ensure that the cableway moves vertically above the cable-driven wire rope pulley that needs maintenance. Step S4. The maintenance personnel control the hoist cage to move from the cable crane platform to the cable-driven pulley area, and control the cableway basket to rise and fall, or move along the cableway to the precise position of the pulley that needs to be inspected and maintained, and carry out maintenance work. After completing the inspection and maintenance work on the pulley on one wire rope, the maintenance personnel control the operation to return the hoist cage to the cable crane platform, then move the cable crane and replace the corresponding lifting pulley platform for the cable anchorage, move the cableway laterally to the position of the next wire rope, and then complete the inspection and maintenance work on the pulley on the next wire rope, until the maintenance work is completed, and then move the basket diagonally to the cable-driven platform to stop. One end of the cableway’s carrying rope is connected to the top of the cable crane, which is located at a higher position, and the other end is connected to the central lifting pulley platform of the lower reflector. The basket is suspended on the carrying rope. Maintenance personnel ride in the basket and control it to move along the carrying rope to the pulley position that needs maintenance, and then carry out maintenance. The cableway gondola includes a gondola body, an inclined lifting mechanism, a vertical lifting mechanism, and a control box; the inclined lifting mechanism is used to control the movement of the cableway gondola on the inclined support rope through inclined lifting drive; the vertical lifting mechanism is used to control the raising and lowering of the gondola body in the vertical direction.

2. The high-altitude inspection and maintenance method for FAST cable-driven pulleys based on cage cables according to claim 1, characterized in that, In step S1, the feed cabin is lowered to the docking platform and anchored. The six steel wire ropes are appropriately loosened to facilitate maintenance personnel to inspect and maintain the pulleys and cables on the cable drive steel wire ropes through the basket.

3. The high-altitude inspection and maintenance method for FAST cable-driven pulleys based on cage cables according to claim 2, characterized in that, The upper ends of the load-bearing rope, safety rope, and traction rope of the cableway scaffold are all connected to the winch at the top of the cable crane tower. The connection method is to anchor the connection through the winch drum and fix the wire rope by using the winch's braking state. The load-bearing rope is a main cable wire rope from the original cable crane trolley, which is fixed to the winch drum at the top of the cable crane tower via a guide wheel, and the rope length is fixed by using the winch's braking function. The safety rope is a traction rope from the original cable crane trolley, which is connected to the traction winch drum at the top of the cable crane tower via a guide wheel, and the rope length is fixed by using the traction winch's braking state.

4. The high-altitude inspection and maintenance method for the FAST cable-driven pulley based on the cage cable as described in claim 3, characterized in that, The cableway gondola also includes safety ropes, safety locks, and rope retractors for the workers.

5. The high-altitude inspection and maintenance method for FAST cable-driven pulleys based on cage cables according to claim 4, characterized in that, The cableway basket is a two-person basket. It uses the load-bearing rope under half-span conditions as the suspension mechanism of 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 on the load-bearing steel wire rope. With the inclined hoist, it moves up and down and rises and falls obliquely on the catenary load-bearing rope using the basket's special steel wire rope traction rope.

6. The high-altitude inspection and maintenance method for FAST cable-driven pulleys based on cage cables according to claim 5, characterized in that, In step S4, the cable crane moves the control cage cable system to a position parallel to the feed cabin cable drive, adjusts the sag of the load-bearing rope, safety rope, and traction rope to meet the installation requirements of the suspended basket, suspends the suspended basket equipment, and controls the operation of the suspended basket by maintenance personnel. The cableway suspended basket is moved obliquely and vertically to the pulley position that needs maintenance through the inclined lifting mechanism and the vertical lifting mechanism.

7. The high-altitude inspection and maintenance method for FAST cable-driven pulleys based on cage cables according to claim 6, characterized in that, The operation process of the cableway gondola is as follows: First, the controller inside the cableway gondola controls the inclined lifting mechanism, so that the cableway gondola moves along the carrying rope toward the wire rope pulley that needs maintenance; when it approaches the wire rope pulley that needs maintenance, the vertical lifting mechanism is controlled to move it further in the vertical direction to allow maintenance personnel to maintain the pulley. After the operation is completed, the gondola is controlled to retract to the cable hoisting platform and stop, completing one work cycle.

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