Cable crane running gear and cable crane obstacle crossing method

Abstract

This invention provides a traveling mechanism and obstacle-crossing method for a cable-stayed crane, relating to the field of crane equipment technology. The traveling mechanism includes a main beam, a traveling device, and a guiding device. In the traveling device, a first telescopic drive member drives a traveling wheel to move towards or away from the main cable along the height direction of the main beam. The traveling wheel includes a first wheel frame and a first roller. The telescopic end of the first telescopic drive member is connected to the first wheel frame. Along the length direction of the main beam, in at least the first and last traveling wheel structures of the traveling device, the first roller is slidably mounted on the first wheel frame. In the guiding device, two guiding units are arranged opposite each other in the width direction of the main beam. A second telescopic drive member of the guiding unit drives a guide wheel to move towards or away from the main cable along the width direction of the main beam. This invention significantly improves the reliability and operational safety of cable-stayed cranes on the main cable of a variable-width cable-stayed suspension bridge.

Description

Technical Field

[0001] This invention relates to the field of lifting equipment technology, and more specifically, to a traveling mechanism for a cable-mounted crane and a method for the cable-mounted crane to overcome obstacles. Background Technology

[0002] Currently, in variable-width cable-stayed suspension bridge structures, the main cables are arranged in a spatial curved shape, and their width varies along the bridge span (i.e., the spacing between the main cables is not constant). Cable clamps are installed on them to anchor the suspenders. The traveling mechanism of the cable-mounted crane needs to run longitudinally along the main cable and continuously cross multiple cable clamps during its journey.

[0003] However, because the overall shape of the main cable of a variable-width cable-stayed suspension bridge is a spatial curve (with both vertical sag and lateral widening characteristics), the spatial orientation of the cable-mounted crane relative to the traveling mechanism body changes continuously and dynamically during the traction process. Especially when the curvature of the main cable is large or the widening rate is high, the relative angle between the traction frame and the traveling mechanism body frequently exceeds the safety threshold. This not only significantly increases the traveling resistance and structural eccentric load, but also easily leads to serious safety hazards such as slippage of the traveling wheels, guide instability, traction rope derailment, or even overturning of the entire machine. Under extreme conditions (such as cable clamping conditions), this angle deviation may cause the traction force to fail to be effectively converted into forward power, resulting in the traveling mechanism coming to a complete standstill and losing its autonomous displacement capability. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a traveling mechanism for a cable-mounted crane and a method for the cable-mounted crane to overcome obstacles.

[0005] In a first aspect, the present invention provides a traveling mechanism for a cable-mounted crane, comprising a main beam, traveling devices, and guiding devices; the main beam is provided with a plurality of the traveling devices and at least one guiding device along its length. The traveling device includes a first telescopic drive member and traveling wheels for traveling on the main cable; the fixed end and telescopic end of the first telescopic drive member are respectively connected to the main beam and the traveling wheels, and the first telescopic drive member is used to drive the traveling wheels to move towards or away from the main cable along the height direction of the main beam; the traveling wheel includes a first wheel frame and a first roller; the telescopic end of the first telescopic drive member is connected to the first wheel frame; along the length direction of the main beam, at least in the traveling wheel structure of the first and last traveling devices, the first roller is slidably disposed on the first wheel frame along the width direction of the main beam; The guiding device includes two guiding units, which are arranged opposite to each other in the width direction of the main beam. Each guiding unit includes a second telescopic drive and a guide wheel. The fixed end and telescopic end of the second telescopic drive are respectively connected to the main beam and the guide wheel. The second telescopic drive is used to drive the guide wheel to move towards or away from the main cable along the width direction of the main beam.

[0006] Optionally, the guide unit further includes a first connecting seat, the upper end of which is connected to the main beam, and the lower end of which extends below the main beam and is connected to the fixed end of the second telescopic drive member.

[0007] Optionally, the guide wheel includes a second wheel frame and a second roller rotatably connected to the second wheel frame; the telescopic end of the second telescopic drive member is rotatably connected to the second wheel frame, and the rotation axes of both are parallel to the length direction of the main beam; the guide unit further includes an angle adjustment structure, which is used to adjust the angle of the second wheel frame relative to the telescopic end of the second telescopic drive member.

[0008] Optionally, the angle adjustment structure includes two adjustment units, both of which are located on the rotation path of the second wheel frame and respectively abut against the opposite ends of the second wheel frame; each adjustment unit includes a mounting plate and an adjusting rod, the mounting plate is connected to the telescopic end of the second telescopic drive member, and the adjusting rod is movably disposed on the mounting plate for moving toward or away from the second wheel frame and abutting against the second wheel frame.

[0009] Optionally, the guide unit further includes a pull rod and a stop; the second wheel frame and the first connecting seat are respectively provided with a first through hole and a second through hole extending along the width direction of the main beam; the pull rod passes through the first through hole and the second through hole respectively, and is movable relative to the first through hole and the second through hole; the stop is provided at both ends of the pull rod, wherein the projection of a portion of one stop on the second wheel frame is within the outline range of the first through hole, and the projection of a portion of the other stop on the first connecting seat is within the outline range of the second through hole.

[0010] Optionally, at least the first and last traveling devices further include a pin and a limiting component; the first wheel frame is provided with an installation space; the first roller is rotatably disposed within the installation space via the pin; the first roller is slidably disposed on the pin along the length direction of the pin; the limiting component is used to adjustably restrict the sliding of the first roller on the pin.

[0011] Optionally, the limiting assembly includes two limiting units spaced apart on the first wheel frame; the first roller is provided between the two limiting units; the limiting unit includes a bushing and a connecting rod; the bushing is movably sleeved on the portion of the pin located in the mounting space, the connecting rod is movably disposed on the first wheel frame, and one end of the connecting rod extends into the mounting space and is connected to the bushing, the connecting rod being used to cause the bushing to abut against the side end of the first roller.

[0012] Optionally, the traveling mechanism of the cable-mounted crane further includes a pressure-bearing device, which includes a pressure-bearing seat and a clamp structure; the pressure-bearing seat is disposed at the bottom end of the main beam and is used to support the main cable above it; the clamp structure includes a fastener and two half-clamps rotatably connected to the pressure-bearing seat, the two half-clamps being arranged opposite each other along the width direction of the main beam; the fastener is used to connect the two half-clamps when they encircle the main cable.

[0013] Optionally, the traveling mechanism of the cable-mounted crane further includes a clamping device, which comprises two locking units arranged opposite to each other in the width direction of the main beam. Each locking unit includes a second connecting seat, a screw, and a clamping pad. The upper end of the second connecting seat is connected to the main beam, and the lower end of the second connecting seat extends below the main beam and is threadedly connected to the screw. The free end of the screw is connected to the clamping pad, used to drive the clamping pad to move towards or away from the main cable along the width direction of the main beam. And / or, the traveling mechanism of the cable-mounted crane further includes a winch traction device, which is drivenly connected to the main beam and used to drive the traveling mechanism of the cable-mounted crane to move on the main cable.

[0014] Secondly, the present invention provides a method for a cable-mounted crane to overcome obstacles, employing the cable-mounted crane traveling mechanism as described above, comprising the following steps: S100. When the distance between the first traveling device and the cable clamp in front of it reaches a first preset distance, control the first telescopic drive of the first traveling device to work, so as to drive the traveling wheel of the first traveling device to separate from the main cable, and control the first telescopic drive of the remaining traveling devices to work, so as to drive the traveling wheel of the remaining traveling devices to support the main cable. S200. Control the traveling mechanism of the cable-mounted crane to move along the main cable until the first traveling device passes the cable clamp, and make the traveling wheel of the first traveling device meet the first preset condition, the first preset condition being: the horizontal distance between the center of the first roller and the main cable is not greater than the first preset distance; S300. Adjust the position of the first roller of the first traveling device to meet the second preset condition, the second preset condition being: the center of the first roller coincides vertically with the main cable; S400: Control the first telescopic drive of the first traveling device to operate, so as to drive the traveling wheel to support the main cable; control the first telescopic drive of the middle traveling device to operate, so as to drive the traveling wheel to separate from the main cable; S500: Fix the first roller of the first traveling device, control the guide device to work, so that the main beam deflects relative to the main cable by a first preset angle; release the fixing of the first roller of the first traveling device, control the guide device to work, so that the center of the first roller coincides vertically with the main cable. S600: Control the traveling mechanism of the cable-mounted crane to move along the main cable until the next traveling device passes the cable clamp; fix the first roller of the first traveling device, control the guide device to work so that the main beam deflects relative to the main cable by a second preset angle; release the fixation of the first roller of the first traveling device, control the guide device to work so that the center of the first roller coincides vertically with the main cable; S700, Repeat step 600 until all the middle traveling devices have passed the cable clamp; Repeat step 500 until the last traveling device has passed the cable clamp.

[0015] Compared with related technologies, the beneficial effects of the present invention are as follows: By configuring multiple independently lifting traveling devices and at least one pair of guide devices symmetrically arranged in the width direction on the main beam, a "traveling-guiding" coordinated control mechanism is constructed: the first telescopic drive component of the traveling device can control the contact or disengagement state of each traveling wheel with the main cable, realizing segmented support and obstacle crossing. The traveling mechanism of the cable-mounted crane mainly travels through the first and last traveling devices. Because the first roller in the structure of the first and last traveling devices can slide on the first wheel frame along the width direction of the main beam, it can automatically adapt to the spatial curve of the main cable. The intermediate traveling device serves as temporary support when the first traveling device crosses an obstacle. The guide device includes two guide units arranged opposite each other in the width direction of the main beam. The guide units can be connected by a second telescopic drive component. The retraction drive component drives the guide wheels on both sides to dynamically approach or move away from the main cable along the width direction of the main beam. When the main cable widens laterally or deflects in space, a controllable lateral constraint force is applied to guide the main beam to produce an adaptive deflection around the main cable axis, thereby matching the spatial curve direction of the main cable in real time. The traveling mechanism of the cable-mounted crane of this invention can rely on the active lifting and lowering scheduling of the traveling wheels and the bidirectional position adjustment capability of the guide wheels to achieve continuous response and adaptive adjustment of motion posture to changes in the bending angle of the main cable without interrupting traction or requiring additional support points. This effectively alleviates the problems of traction loss, traveling wheel slippage, guide instability and structural off-center loading caused by the increased spatial angle between the traction direction and the traveling mechanism body, and significantly improves the reliability and operational safety of the cable-mounted crane on the main cable of a variable-width cable-stayed suspension bridge. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the traveling mechanism of a cable-mounted crane according to an embodiment of the present invention; Figure 2 A cross-sectional view of the traveling mechanism of a cable-driven crane according to an embodiment of the present invention. Figure 1 ; Figure 3 This is a schematic diagram of the structure of the guide unit according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the first connecting seat according to an embodiment of the present invention; Figure 5 A cross-sectional view of the traveling mechanism of a cable-driven crane according to an embodiment of the present invention. Figure 2 ; Figure 6 A cross-sectional view of the traveling mechanism of a cable-driven crane according to an embodiment of the present invention. Figure 2 ; Figure 7 This is a flowchart illustrating the obstacle-crossing method for a cable-mounted crane according to an embodiment of the present invention. Figure 8 This is a schematic diagram of the working operation of the traveling mechanism of the cable-mounted crane according to an embodiment of the present invention; Figure 9This is a schematic diagram of the first roller in an embodiment of the present invention when its center does not coincide with the main cable vertically. Figure 10 This is a schematic diagram showing the center of the first roller in an embodiment of the present invention coinciding with the main cable vertically.

[0017] Explanation of reference numerals in the attached figures: 10. Main beam; 20. Traveling device; 21. First telescopic drive component; 22. Traveling wheel; 221. First wheel frame; 222. First roller; 23. Pin; 24. Limiting unit; 241. Bushing; 242. Connecting rod; 30. Guide device; 31. Guide unit; 311. Second telescopic drive component; 312. Guide wheel; 3121. Second wheel frame; 3122. Second roller; 3123. First through hole; 313. First connecting seat; 3131. Second through hole 314. Perforation; 3141. Adjustment unit; 3142. Mounting plate; 3143. Adjusting rod; 315. Pull rod; 316. Stop; 40. Pressure bearing device; 41. Pressure bearing seat; 42. Clamping structure; 421. Half clamp; 422. Fastener; 50. Clamping device; 51. Locking unit; 511. Second connecting seat; 512. Screw; 513. Clamping tile; 60. Winch traction device; 70. Main cable; 80. Cable clamp; A. Main beam centerline; O. First roller center. Detailed Implementation

[0018] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Although some embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the accompanying drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0019] The term "comprising" and its variations as used herein are open-ended, meaning "including but not limited to"; the term "optionally" means "optional embodiments". Definitions of other terms will be given in the following description. It should be noted that the concepts of "first," "second," etc., mentioned in this invention are used only to distinguish different devices, modules, or units, and are not intended to limit the order of functions performed by these devices, modules, or units or their interdependencies.

[0020] It should be noted that the terms "a" and "a plurality of" used in this invention are illustrative rather than restrictive. Those skilled in the art should understand that, unless otherwise expressly indicated in the context, they should be understood as "one or more".

[0021] like Figure 1 ,2 As shown, the traveling mechanism of the cable-mounted crane in this embodiment of the invention includes a main beam 10, traveling devices 20, and guiding devices 30; the main beam 10 is provided with a plurality of traveling devices 20 and at least one guiding device 30 along its length; the traveling device 20 includes a first telescopic drive member 21 and a traveling wheel 22 for traveling on the main cable 70; the fixed end and the telescopic end of the first telescopic drive member 21 are respectively connected to the main beam 10 and the traveling wheel 22, and the first telescopic drive member 21 is used to drive the traveling wheel 22 to move toward or away from the main cable 70 along the height direction of the main beam 10; the traveling wheel 22 includes a first wheel frame 221 and a first roller 222; the telescopic end of the first telescopic drive member 21... Connected to the first wheel frame 221; along the length direction of the main beam 10, at least in the first and last traveling device 20 traveling wheel 22 structures, the first roller 222 is slidably disposed on the first wheel frame 221 along the width direction of the main beam 10; the guiding device 30 includes two guiding units 31, which are disposed opposite to each other in the width direction of the main beam 10; the guiding unit 31 includes a second telescopic drive member 311 and a guide wheel 312; the fixed end and telescopic end of the second telescopic drive member 311 are respectively connected to the main beam 10 and the guide wheel 312, and the second telescopic drive member 311 is used to drive the guide wheel 312 to move toward or away from the main cable 70 along the width direction of the main beam 10.

[0022] Specifically, the main beam 10 is provided with four traveling devices 20 and two guiding devices 30 along its length. Two traveling devices 20 are respectively located at both ends of the main beam 10, and in the structure of these two traveling devices 20, the first roller 222 is slidably mounted on the first wheel frame 221. The other two traveling devices 20 are located in the middle of the main beam 10, and in the structure of these two traveling devices 20, the first roller 222 cannot slide on the first wheel frame 221. The two guiding devices 30 are also located at both ends of the main beam 10. Thus, the two guiding devices 30 are spaced apart along the length of the main beam 10. When it is necessary to adjust the deflection angle of the main beam 10, the two guiding devices 30 can apply forces in different directions along the width direction of the main beam 10, thereby coordinating the application of torsional torque to the main cable 70. Since the traveling devices 20 are supported on the main cable 70, the torsional force is indirectly transmitted to the main beam through the main cable 70, thereby causing the main beam 10 to deflect.

[0023] In this embodiment, a "travel-guide" coordinated control mechanism is constructed by configuring multiple independently liftable traveling devices 20 and at least one guide device 30 on the main beam 10: the first telescopic drive component 21 of the traveling device 20 can control the contact or disengagement state of each traveling wheel 22 with the main cable 70, realizing segmented support and obstacle crossing. The traveling mechanism of the cable crane mainly travels through the first and last traveling devices 20. Since the first roller 222 can slide on the first wheel frame 221 along the width direction of the main beam 10 in the structure of the first and last traveling devices 20, it can automatically adapt to the spatial curve of the main cable 70; the middle traveling device 20 is used to provide temporary support when the first traveling device 20 crosses an obstacle; the guide device 30 includes two guide units 31 arranged opposite to each other in the width direction of the main beam 10, and the guide unit 31 can be connected by the second guide unit 30. The telescopic drive component 311 drives the guide wheels 312 on both sides to dynamically approach or move away from the main cable 70 along the width direction of the main beam 10. When the main cable 70 widens laterally or deflects in space, a controllable lateral constraint force is applied to guide the main beam 10 to make an adaptive deflection around the axis of the main cable 70, thereby matching the spatial curve direction of the main cable 70 in real time. The traveling mechanism of the cable crane of the present invention can rely on the active lifting and lowering scheduling of the traveling wheel 22 and the bidirectional position adjustment capability of the guide wheel 312 to achieve continuous response and adaptive adjustment of the motion posture to the change of the bending angle of the main cable 70 without interrupting traction and without additional support points. It effectively alleviates the problems of traction loss, slippage of the traveling wheel 22, guide instability and structural off-center loading caused by the increase of the spatial angle between the traction direction and the traveling mechanism body (i.e., the main beam 10), significantly improving the reliability and safety of the cable crane on the main cable 70 of the variable-width cable-stayed suspension bridge.

[0024] Furthermore, the circumferential sidewall of the first roller 222 is provided with an arc-shaped surface for cooperating with the main cable 70.

[0025] Optionally, such as Figure 2 As shown, the guide unit 31 also includes a first connecting seat 313. The upper end of the first connecting seat 313 is connected to the main beam 10, and the lower end of the first connecting seat 313 extends to the bottom of the main beam 10 and is connected to the fixed end of the second telescopic drive member 311.

[0026] Specifically, the shape of the first connecting seat 313 is not specifically limited and depends on actual needs. For example... Figure 2 As shown, the first connecting seat 313 is F-shaped, with its two horizontal sections connected to the side end face of the main beam 10, and the lower end of its vertical section extending to the bottom of the main beam 10 and connected to the fixed end of the second telescopic drive member 311.

[0027] In this optional embodiment, by adding a first connecting seat 313 with directional extension function, the installation height of the second telescopic drive member 311 and the guide wheel 312 can be lower than that of the main beam 10 and the traveling wheel 22, so as to facilitate the cooperation with the side of the main cable 70, and significantly improve the overall installation rigidity and load transmission reliability of the guide unit 31; under the condition of rapid lateral widening or sudden spatial deflection of the main cable 70, the slight sway and elastic deformation of the connection part of the second telescopic drive member 311 are effectively suppressed, ensuring the precise application and continuous stable output of the lateral constraint force of the guide wheel 312 on the main cable 70, thereby improving the response speed and control accuracy of the attitude control of the main beam 10.

[0028] Optionally, such as Figure 2 As shown, the guide wheel 312 includes a second wheel frame 3121 and a second roller 3122 rotatably connected to the second wheel frame 3121; the telescopic end of the second telescopic drive member 311 is rotatably connected to the second wheel frame 3121, and the rotation axis of both is parallel to the length direction of the main beam 10; the guide unit 31 also includes an angle adjustment structure, which is used to adjust the angle of the second wheel frame 3121 relative to the telescopic end of the second telescopic drive member 311.

[0029] Specifically, the second wheel frame 3121 is a frame structure with coaxially arranged ear plates on both sides. A through hole is opened in the center of the ear plate for the rotating shaft to pass through. The second roller 3122 forms a rotating pair with the ear plate through the rotating shaft. The two ends of the rotating shaft are limited by locking nuts to ensure that the second roller 3122 can rotate freely around the shaft. The telescopic end of the second telescopic drive member 311 is hinged to the second wheel frame 3121 through a pin. The axis of the pin is parallel to the length direction of the main beam 10, so that the second wheel frame 3121 can rotate around the axis relative to the telescopic end of the second telescopic drive member 311. An angle adjustment structure is provided at the telescopic end of the second telescopic drive member 311 to adjust the angle of the second wheel frame 3121 relative to the telescopic end of the second telescopic drive member 311.

[0030] In this optional embodiment, by introducing a pitch rotation degree of freedom about the length of the main beam 10 between the guide wheel 312 and the second telescopic drive member 311, and configuring an angle adjustment structure for adjustment, real-time adaptive alignment of the working plane of the guide wheel 312 relative to the surface of the main cable 70 is achieved; even under complex working conditions such as local torsion, installation deviation or temperature deformation of the main cable 70, the maximum contact area and uniform pressure distribution between the guide wheel 312 and the main cable 70 can still be maintained, which greatly reduces the probability of abnormal wear of the guide wheel 312 and improves the stability of the lateral constraint force and the accuracy of the guiding response.

[0031] Furthermore, the circumferential sidewall of the second roller 3122 is provided with an arc-shaped surface for cooperating with the main cable 70.

[0032] Optionally, such as Figure 3 As shown, the angle adjustment structure includes two adjustment units 314. Both adjustment units 314 are located on the rotation path of the second wheel frame 3121 and abut against the opposite ends of the second wheel frame 3121, respectively. The adjustment unit 314 includes a mounting plate 3141 and an adjusting rod 3142. The mounting plate 3141 is connected to the telescopic end of the second telescopic drive member 311. The adjusting rod 3142 is movably disposed on the mounting plate 3141 and is used to move toward or away from the second wheel frame 3121 and abut against the second wheel frame 3121.

[0033] Specifically, two adjustment units 314 are respectively arranged at both ends of the rotation path of the first wheel frame 221; each adjustment unit 314 includes a mounting plate 3141 and an adjusting rod 3142; the mounting plate 3141 is a bent plate with mounting holes, one end of which is fixedly connected to the telescopic end side wall of the second telescopic drive member 311, and the connection method between the two includes but is not limited to welding or bolt connection; the other end of the mounting plate 3141 has a through threaded hole, and the through direction is towards the side end face of the corresponding second wheel frame 3121; the adjusting rod 3142 is a threaded rod with a head, which is threadedly connected to the threaded hole of the mounting plate 3141, and by rotating the adjusting rod 3142, it can be moved toward or away from the second wheel frame 3121.

[0034] In this optional embodiment, by symmetrically arranging two adjustment units 314 at both ends of the rotation path of the second wheel frame 3121, and adopting a combination of mounting plate 3141 and adjusting rod 3142, the adjusting rod 3142 can independently and precisely control the rotation limit position of the second wheel frame 3121 in the pitch direction. The mounting plate 3141 provides a stable reference, and the axial adjustability of the adjusting rod 3142 enables stepless setting and repeatable positioning of the attitude of the second wheel frame 3121. The two adjustment units 314 work together to form a bidirectional mechanical limit, which not only prevents the second wheel frame 3121 from excessively deflecting due to local torsion or vibration of the main cable 70, but also avoids attitude imbalance caused by unilateral limit. This ensures that the guide wheel 312 always contacts the surface of the main cable 70 with the optimal contact angle, maintains the uniformity and controllability of the lateral constraint force, and significantly improves the response accuracy, operational stability and long-term working reliability of the guiding device 30 under the dynamic change of the spatial curvature of the main cable 70.

[0035] Optionally, such as Figure 2 , 3As shown in Figure 4, the guide unit 31 also includes a pull rod 315 and a stop 316; the second wheel frame 3121 and the first connecting seat 313 are respectively provided with a first through hole 3123 and a second through hole 3131 that pass through the width direction of the main beam 10; the pull rod 315 passes through the first through hole 3123 and the second through hole 3131 respectively, and can move relative to the first through hole 3123 and the second through hole 3131; the two ends of the pull rod 315 are respectively provided with stop 316, the projection of a part of one stop 316 on the second wheel frame 3121 is within the outline range of the first through hole 3123, and the projection of a part of the other stop 316 on the first connecting seat 313 is within the outline range of the second through hole 3131.

[0036] Specifically, the second wheel frame 3121 is provided with a protrusion, and the protrusion has a through hole 3123 extending along the width direction of the main beam 10; the lower end of the second wheel frame 3121 has a through hole 3131 extending along the width direction of the main beam 10; both the first through hole 3123 and the second through hole 3131 are circular through holes, and their diameters are both larger than the outer diameter of the tie rod 315; the tie rod 315 is a cylindrical solid rod with external threads at both ends and a smooth section in the middle; the tie rod 315 passes through the first through hole 3123 and the second through hole 3131 respectively, and can pass ... The second wheel frame 3121 can swing within the first through hole 3123 and the second through hole 3131, thus not interfering with the rotation of the second wheel frame 3121 relative to the first connecting seat 313. The two ends of the pull rod 315 are respectively provided with stop members 316, which are nuts that match the threads at the ends of the pull rod 315. The two stop members 316 are respectively tightened at both ends of the pull rod 315. One cannot pass through the first through hole 3123 and the other cannot pass through the second through hole 3131, thus forming a mechanical block when the pull rod 315 is subjected to axial tension, preventing the second wheel frame 3121 from undergoing excessive displacement in the width direction.

[0037] In this optional embodiment, by providing a first through hole 3123 and a second through hole 3131 that pass through the width direction of the main beam 10 on the second wheel frame 3121 and the first connecting seat 313 respectively, and by having the same tie rod 315 pass through both in sequence, and with the cooperative limiting of the stop members 316 at both ends, a cross-component axial constraint mechanism is constructed: when the second telescopic member drives the second wheel frame 3121 to move axially, the tie rod 315 can limit the maximum stroke to prevent excessive compression of the main cable 70, which could lead to deformation of the main cable 70.

[0038] Optionally, such as Figure 2As shown, at least the first and last traveling devices 20 also include a pin 23 and a limiting component; the first wheel frame 221 is provided with an installation space; the first roller 222 is rotatably disposed in the installation space via the pin 23; the first roller 222 is slidably disposed on the pin 23 along the length direction of the pin 23; the limiting component is used to adjustably limit the sliding of the first roller 222 on the pin 23.

[0039] Specifically, both the first and last traveling devices 20 also include a pin 23 and a limiting component; the second wheel frame 3121 is a U-shaped frame structure with its opening facing the main cable 70, and the second wheel frame 3121 has an installation space inside; the pin 23 is a cylindrical long shaft, with its two ends rotatably connected to the ear plates on both sides of the second wheel frame 3121; the first roller 222 is slidably mounted on the pin 23 and can slide freely along the axial direction on the pin 23; the limiting component is used to adjustably limit the sliding stroke of the first roller 222 on the pin 23 to ensure that it is always in the effective support range during obstacle crossing.

[0040] In this optional embodiment, by providing a first wheel frame 221 with installation space in at least the first and last traveling devices 20, and assembling the first roller 222 in the space in a manner that allows it to both rotate around the pin 23 and slide along its length, the first roller 222 is equipped with axial adaptive displacement capability. When the traveling mechanism crosses the cable clamp 80 or the main cable 70 and there is a local diameter change, the first roller 222 can slide autonomously on the pin 23 to compensate for geometric interference, avoiding impact loads, wheel damage, or travel interruption caused by rigid collisions. The limiting component provides controllable constraint on the sliding stroke, ensuring that the first roller 222 is always within the effective support range, preventing excessive sliding from causing derailment or instability. This achieves flexible contact and dynamic attitude matching during obstacle crossing, significantly improving the passability, operational stability, and long-term operational reliability of the traveling device 20 on the variable cross-section main cable 70.

[0041] Optionally, such as Figure 2 As shown, the limiting assembly includes two limiting units 24 spaced apart on the first wheel frame 221; a first roller 222 is provided between the two limiting units 24; the limiting unit 24 includes a bushing 241 and a connecting rod 242; the bushing 241 is movably sleeved on the part of the pin 23 located in the installation space, the connecting rod 242 is movably disposed on the first wheel frame 221, and one end of the connecting rod 242 extends into the installation space and is connected to the bushing 241, the connecting rod 242 is used to cause the bushing 241 to abut against the side end of the first roller 222.

[0042] Specifically, two limiting units 24 are symmetrically arranged on both sides of the second roller 3122; each limiting unit 24 includes a bushing 241 and a connecting rod 242; the bushing 241 is a cylindrical part, the inner hole of which forms a sliding fit with the outer circle of the pin 23, and is movably sleeved on the part of the pin 23 located in the installation space; the ear plate of the second wheel frame 3121 is provided with a through threaded hole; the connecting rod 242 is a double-ended screw 512, which is threadedly connected to the threaded hole of the second wheel frame 3121, and one end of which extends into the installation space and holds the bushing 241 against the side end of the first roller 222.

[0043] In this optional embodiment, by arranging two limiting units 24 at intervals on the first wheel frame 221, and making each limiting unit 24 a linkage mechanism consisting of a bushing 241 and a connecting rod 242, a bidirectional adjustable constraint on the axial sliding of the first roller 222 is achieved: the connecting rod 242 is threadedly connected to the first wheel frame 221, and one end of the connecting rod extends into the installation space and holds the bushing 241 against the side end of the first roller 222, thereby dynamically adjusting the relative position between the bushing 241 and the first roller 222.

[0044] Optionally, such as Figure 5 As shown, the traveling mechanism of the cable-mounted crane also includes a pressure-bearing device 40, which includes a pressure-bearing seat 41 and a clamping structure 42. The pressure-bearing seat 41 is located at the bottom end of the main beam 10 and is used to support the main cable 70 above it. The clamping structure 42 includes a fastener 422 and two half-clamps 421 that are rotatably connected to the pressure-bearing seat 41. The two half-clamps 421 are arranged opposite to each other along the width direction of the main beam 10. The fastener 422 is used to connect the two half-clamps 421 when they wrap around the main cable 70.

[0045] Specifically, the top plane of the pressure bearing seat 41 is fixedly connected to the bottom surface of the main beam 10 by a group of high-strength bolts, and the bottom is provided with an arc-shaped groove to accommodate the main cable 70; the inner wall of the arc-shaped groove is provided with a wear-resistant liner or elastic skin, and the surface of the liner or elastic skin forms a surface contact with the outer circle of the main cable 70; in the clamp structure 42, both halves of the clamp 421 are arc-shaped plates, the curvature of their inner arc surfaces matches the outer diameter of the main cable 70, and ear plates are provided at both ends; the two halves of the clamp 421 are hinged to the pressure bearing seat 41 by a pin, and can be closed inward or opened outward around the pin axis; the fastener 422 is a combination of a double-ended stud and a wing nut, the two ends of the double-ended stud pass through the ear plates of the two halves of the clamp 421 respectively, and are locked by the wing nut to achieve a ring-shaped clamping.

[0046] In this optional embodiment, by setting a bearing seat 41 and an openable half-clamp 421 structure 42 at the bottom of the main beam 10, active support and controllable anchoring of the main cable 70 are achieved: the bearing seat 41 provides a vertical bearing surface, directly bearing the load of the whole machine and the suspended load; the two half-clamps 421 are rotatably connected around the bearing seat 41, and can synchronously hug the main cable 70 under the action of fasteners 422, forming a radial clamping force, so that the bearing seat 41 stably fits the main cable 70 and prevents lateral slippage; in the hoisting condition, this structure transforms the cable clamp 80 into an auxiliary support point, significantly improving the anti-overturning and anti-slippage capabilities; in the traveling condition, the clamp can be loosened and moved along, and can be quickly re-clamped after crossing the cable clamp 80, realizing the dynamic migration and precise reset of the support point; thus, it takes into account both high load-bearing safety and continuous obstacle-crossing flexibility, fundamentally solving the problem of insufficient stability of the cable-mounted crane on the main cable 70 of the variable-width cable-stayed suspension bridge due to the lack of reliable upper support.

[0047] Optionally, such as Figure 6 As shown, the traveling mechanism of the cable-mounted crane also includes a clamping device 50, which includes two locking units 51 arranged opposite to each other in the width direction of the main beam 10. Each locking unit 51 includes a second connecting seat 511, a screw 512, and a clamping pad 513. The upper end of the second connecting seat 511 is connected to the main beam 10, and the lower end of the second connecting seat 511 extends to the bottom of the main beam 10 and is threadedly connected to the screw 512. The free end of the screw 512 is connected to the clamping pad 513, which is used to drive the clamping pad 513 to move towards or away from the main cable 70 along the width direction of the main beam 10.

[0048] Specifically, in the structure of the clamping device 50, two locking units 51 are symmetrically arranged in the width direction of the main beam 10; each locking unit 51 includes a second connecting seat 511, a screw 512, and a clamping pad 513; the shape of the second connecting seat 511 is not specifically limited and is determined according to actual needs. Figure 6 As shown, the second connecting seat 511 is F-shaped, with its two horizontal sections connected to the side end face of the main beam 10, and the lower end of its vertical section extending to the bottom of the main beam 10 and threadedly connected to the screw 512; the free end of the screw 512 is rotatably connected to the back of the clamping pad 513; the clamping pad 513 is an arc-shaped cast iron part, with its inner arc surface matching the outer circle of the main cable 70, and its surface is provided with anti-slip texture; when the screw 512 rotates, it drives the clamping pad 513 to move horizontally along the width direction of the main beam 10, thereby clamping or releasing the main cable 70.

[0049] In this optional embodiment, by symmetrically arranging two locking units 51 at the middle position of the width direction of the main beam 10, the clamping tiles 513 on both sides apply equal, opposite, and collinear radial clamping forces to the main cable 70. This not only effectively suppresses the local compression deformation of the main cable 70, but also avoids the torsion or deflection of the traveling mechanism around the axis of the main cable 70 caused by uneven elastic force distribution. Under the hoisting condition, the clamping tiles 513 simultaneously clamp the main cable 70, forcibly constraining the posture of the whole machine within the central symmetrical plane of the main cable 70, ensuring that the center of the bearing surface at the bottom of the bearing seat 41 always coincides with the axis of the main cable 70, fundamentally preventing the bearing block from sliding out of the effective support area of ​​the main cable 70 due to lateral load, and significantly improving the vertical bearing stability, posture controllability, and anti-eccentric load capacity of the whole machine under the hoisting condition.

[0050] Optionally, the traveling mechanism of the cable-mounted crane also includes a winch traction device 60, which is drivenly connected to the main beam 10 and is used to drive the traveling mechanism of the cable-mounted crane to move on the main cable 70.

[0051] Specifically, the winch traction device 60 includes an electric winch, a traction rope, and a guide pulley block; the electric winch is fixed to the tail support of the main beam 10; one end of the traction rope is wound around the winch drum, and the other end is led out through the guide pulley block and connected to the front anchor point; the guide pulley block is installed at the front end of the main beam 10 to change the direction of the traction rope and reduce bending stress.

[0052] In this optional embodiment, the winch traction device 60 acts directly on the main beam 10 through a rigid drive connection, providing a stable, controllable, and speed-adjustable longitudinal traction force to ensure that the cable crane can achieve continuous, uniform, and precise autonomous travel on the main cable 70. It works in conjunction with the traveling device 20, the guiding device 30, the clamping device 50, and the pressure-bearing device 40 to maintain uninterrupted traction throughout the entire process of crossing the cable clamp 80, avoiding the poor synchronization, lag response, and safety hazards caused by traditional reliance on external traction vehicles or manual towing. At the same time, the direction of the traction force output by the winch traction device 60 can be optimized through the arrangement of the guide pulley group to always be close to the tangent direction of the main cable 70, significantly reducing the lateral component force, reducing the load on the guide wheel 312 and the risk of off-center loading on the main beam 10, thereby comprehensively improving the overall stability of the machine's operation on the spatial curve main cable 70, the path following accuracy, and the level of automation.

[0053] Furthermore, the guide pulley block is slidably mounted on the main beam 10.

[0054] In this optional embodiment, the pulleys of the guide pulley block can dynamically adjust their spatial position on the main cable 70 along the length of the main beam 10 as the whole machine moves, thereby always maintaining the optimal wrap angle and minimum bending stress of the traction rope and the tangential direction of the main cable 70. During the crossing of the cable clamp 80, the pulleys move slightly synchronously with the main beam 10 to avoid sudden changes in the traction rope angle, jumping out of the groove, or local wear caused by fixed installation. At the same time, the sliding structure, together with the limiting mechanism, can achieve precise positioning and rapid reset of the pulley position, ensuring the continuity, stability, and repeatability of the traction force transmission path, and significantly improving the response adaptability and long-term operational reliability of the winch traction device 60 under the condition of spatial curvature changes of the main cable 70.

[0055] It is important to understand that in a variable-width cable-stayed suspension bridge structure, the main cable 70 is arranged in a spatial curve along the bridge span direction, with its alignment exhibiting lateral deflection. The main cable 70 is equipped with cable clamps 80 for anchoring suspenders or auxiliary equipment. When the traveling mechanism of the cable-stayed crane moves along the main cable 70 to the position of the cable clamp 80, it needs to perform an 'obstacle-crossing' action, i.e., temporarily lifting or deflecting the traveling wheel assembly to cross the cable clamp 80. However, since the lateral deflection angle of the main cable 70 at the cable clamp 80 is generally 1 degree, there is a spatial angular deviation between the main cable 70 and the design reference axis of the traveling mechanism. This can cause the traction vector to not be fully projected onto the traveling direction, potentially leading to engineering risks such as traveling wheel slippage, rail wear, abnormal wear, or even obstacle-crossing failure.

[0056] To address the aforementioned problems, another embodiment of the cable-mounted crane obstacle-crossing method of the present invention employs the cable-mounted crane traveling mechanism as described above, and includes the following steps: S100: When the distance between the first traveling device 20 and the cable clamp 80 in front of it reaches the first preset distance, control the first telescopic drive member 21 of the first traveling device 20 to work, so as to drive the traveling wheel 22 of the first traveling device 20 to separate from the main cable 70, and control the first telescopic drive member 21 of the remaining traveling device 20 to work, so as to drive the traveling wheel 22 of the remaining traveling device 20 to support the main cable 70. In this step, when the distance between the first traveling device 20 and the cable clamp 80 in front of it is shortened to a first preset distance, for example, 5cm, the first telescopic drive member 21 of the first traveling device 20 retracts, causing its traveling wheel 22 to detach from the main cable 70. The remaining traveling devices 20 are then adjusted to a support state, forming a lever-type support configuration with the middle traveling device 20 as the fulcrum. The effect is as follows: Figure 8 As shown.

[0057] S200: Control the traveling mechanism of the cable crane to move along the main cable 70 until the first traveling device 20 passes the cable clamp 80, and make the traveling wheel 22 of the first traveling device 20 meet the first preset condition. The first preset condition is: the horizontal distance between the center of the first roller 222 and the main cable 70 is not greater than the first preset distance. In this step, the hoisting traction device 60 continues to work, driving the whole machine forward along the main cable 70 until the first traveling device 20 passes the cable clamp 80. During this process, the horizontal distance between the center of the first roller 222 (that is, the geometric center) of the first traveling device 20 and the main cable 70 is monitored in real time by the attitude sensor. When the horizontal distance is not greater than the first preset distance (e.g., 50mm), it is determined that the first preset condition is met.

[0058] S300. Adjust the position of the first roller 222 of the first traveling device 20 to meet the second preset condition. The second preset condition is that the center of the first roller 222 is vertically aligned with the main cable 70. In this step, such as Figure 9 As shown, after the traveling wheel 22 of the first traveling device 20 passes the cable clamp 80, there is a horizontal distance between the center (i.e., geometric center) of the first roller 222 of the first traveling device 20 and the main cable 70. If the first roller 222 is directly supported on the main cable 70 at this time, the two are not fully matched, and slippage will occur, thus affecting the accuracy of the subsequent deflection of the main beam 10. Therefore, before the traveling wheel 22 of the first traveling device 20 is re-supported on the main cable 70, it is necessary to first adjust the sliding of the first roller 222 relative to the first wheel frame 221 to make the first roller 222 and the main cable 70 vertically aligned. Then, the position of the first roller 222 on the pin 23 is restricted by the limiting component, so that the center (i.e., geometric center) of the first roller 222 is vertically aligned with the main cable 70 and locked, with the effect as shown. Figure 10 As shown, the second preset condition is met.

[0059] S400: Control the first telescopic drive member 21 of the first traveling device 20 to work, so as to drive the traveling wheel 22 to support the main cable 70; Control the first telescopic drive member 21 of the intermediate traveling device 20 to work, so as to drive the traveling wheel 22 to separate from the main cable 70. In this step, the first telescopic drive member 21 of the first traveling device 20 is extended, so that its traveling wheel 22 re-contacts the main cable 70 and bears the load; at the same time, the first telescopic drive members 21 of all intermediate traveling devices 20 are retracted, so that their traveling wheels 22 are detached from the main cable 70, freeing up degrees of freedom for subsequent deflection.

[0060] S500: Fix the first roller 222 of the first traveling device 20, control the guide device 30 to work, so that the main beam 10 deflects relative to the main cable 70 by a first preset angle; release the fixation of the first roller 222 of the first traveling device 20, control the guide device 30 to work, so that the center of the first roller 222 coincides vertically with the main cable 70. In this step, the first roller 222 of the first traveling device 20 is temporarily locked in its current position to prevent it from sliding during deflection. Then, the two guide units 31 of the guide device 30 are controlled to move synchronously. Specifically, one second telescopic drive member 311 extends and the other second telescopic drive member 311 shortens, thereby applying a lateral force to the main cable 70 through the guide wheel 312. The main cable 70 then transmits the force to the main beam 10, causing the main beam 10 to deflect by a first preset angle (e.g., 0.3 degrees), that is, the center line A of the main beam deflects by 0.3 degrees. After the deflection is completed, the locking of the first roller 222 of the first traveling device 20 is released, and the originally extended second telescopic drive member 311 in the guide device 30 is slowly retracted. Since the first roller 222 of the first traveling device 20 can now slide adaptively, the deformed main cable 70 can return to its original position and drive the first roller 222 of the first traveling device 20 to move, so that the center of the first roller 222 (that is, the geometric center) coincides vertically with the main cable 70.

[0061] S600: Control the traveling mechanism of the cable-mounted crane to move along the main cable 70 until the next traveling device 20 passes the cable clamp 80; fix the first roller 222 of the first traveling device 20, and control the guide device 30 to work so that the main beam 10 deflects relative to the main cable 70 by a second preset angle; release the fixation of the first roller 222 of the first traveling device 20, and control the guide device 30 to work so that the center of the first roller 222 coincides vertically with the main cable 70; In this step, the machine continues to move forward. After the second traveling device 20 approaches and passes the cable clamp 80, the first roller 222 of the first traveling device 20 is temporarily locked in the current position to prevent it from sliding during the deflection process. The specific deflection method is the same as in step S500, except that the deflection angle is different. The second preset angle is generally 0.2 degrees.

[0062] S700, Repeat step 600 until all the middle traveling devices 20 have passed the cable clamp 80; Repeat step 500 until the last traveling device 20 has passed the cable clamp 80.

[0063] The obstacle-crossing method of the cable-mounted crane in this embodiment has the same beneficial effects as the cable-mounted crane traveling mechanism described above compared with related technologies, so it will not be described again here.

[0064] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A traveling mechanism for a cable-driven crane, characterized in that, It includes a main beam (10), a traveling device (20), and a guide device (30); the main beam (10) is provided with a plurality of the traveling devices (20) and at least one guide device (30) along its length. The traveling device (20) includes a first telescopic drive member (21) and a traveling wheel (22) for traveling on the main cable; the fixed end and telescopic end of the first telescopic drive member (21) are respectively connected to the main beam (10) and the traveling wheel (22), and the first telescopic drive member (21) is used to drive the traveling wheel (22) to move towards or away from the main cable along the height direction of the main beam (10); the traveling wheel (22) includes a first wheel frame (221) and a first roller (222); the telescopic end of the first telescopic drive member (21) is connected to the first wheel frame (221); along the length direction of the main beam (10), at least in the first and last traveling wheel (22) structures of the traveling device (20), the first roller (222) is slidably disposed on the first wheel frame (221) along the width direction of the main beam (10). The guiding device (30) includes two guiding units (31), which are arranged opposite to each other in the width direction of the main beam (10); the guiding unit (31) includes a second telescopic drive member (311) and a guide wheel (312); the fixed end and the telescopic end of the second telescopic drive member (311) are respectively connected to the main beam (10) and the guide wheel (312), and the second telescopic drive member (311) is used to drive the guide wheel (312) to move towards or away from the main cable in the width direction of the main beam (10).

2. The traveling mechanism of the cable-mounted crane according to claim 1, characterized in that, The guide unit (31) further includes a first connecting seat (313), the upper end of which is connected to the main beam (10), and the lower end of which extends to the bottom of the main beam (10) and is connected to the fixed end of the second telescopic drive member (311).

3. The traveling mechanism of the cable-mounted crane according to claim 2, characterized in that, The guide wheel (312) includes a second wheel frame (3121) and a second roller (3122) rotatably connected to the second wheel frame (3121); the telescopic end of the second telescopic drive member (311) is rotatably connected to the second wheel frame (3121), and the rotation axis of both is parallel to the length direction of the main beam (10); the guide unit (31) also includes an angle adjustment structure, which is used to adjust the angle of the second wheel frame (3121) relative to the telescopic end of the second telescopic drive member (311).

4. The traveling mechanism of the cable-mounted crane according to claim 3, characterized in that, The angle adjustment structure includes two adjustment units (314), both of which are located on the rotation path of the second wheel frame (3121) and abut against the opposite ends of the second wheel frame (3121). Each adjustment unit (314) includes a mounting plate (3141) and an adjusting rod (3142). The mounting plate (3141) is connected to the telescopic end of the second telescopic drive member (311), and the adjusting rod (3142) is movably mounted on the mounting plate (3141) for moving toward or away from the second wheel frame (3121) and abutting against the second wheel frame (3121).

5. The traveling mechanism of the cable-mounted crane according to claim 4, characterized in that, The guide unit (31) further includes a pull rod (315) and a stop (316); the second wheel frame (3121) and the first connecting seat (313) are respectively provided with a first through hole (3123) and a second through hole (3131) extending along the width direction of the main beam (10); the pull rod (315) passes through the first through hole (3123) and the second through hole (3131) respectively, and can move relative to the first through hole (3123) and the second through hole (3131); the two ends of the pull rod (315) are respectively provided with the stop (316), the projection of a part of one of the stop (316) on the second wheel frame (3121) is located within the outline range of the first through hole (3123), and the projection of a part of the other stop (316) on the first connecting seat (313) is located within the outline range of the second through hole (3131).

6. The traveling mechanism of the cable-mounted crane according to claim 1, characterized in that, At least the first and last traveling device (20) further includes a pin (23) and a limiting component; the first wheel frame (221) is provided with an installation space; the first roller (222) is rotatably disposed in the installation space via the pin (23); the first roller (222) is slidably disposed on the pin (23) along the length direction of the pin (23); the limiting component is used to adjustably restrict the first roller (222) from sliding on the pin (23).

7. The traveling mechanism of the cable-mounted crane according to claim 6, characterized in that, The limiting assembly includes two limiting units (24) spaced apart on the first wheel frame (221); the first roller (222) is provided between the two limiting units (24); the limiting unit (24) includes a bushing (241) and a connecting rod (242); the bushing (241) is movably sleeved on the part of the pin (23) located in the installation space, the connecting rod (242) is threadedly connected to the first wheel frame (221), and one end of the connecting rod (242) extends into the installation space and is connected to the bushing (241), the connecting rod (242) is used to cause the bushing (241) to abut against the side end of the first roller (222).

8. The traveling mechanism of the cable-mounted crane according to claim 1, characterized in that, It also includes a pressure-bearing device (40), which includes a pressure-bearing seat (41) and a clamping structure (42); the pressure-bearing seat (41) is located at the bottom end of the main beam (10) and is used to support the main cable above it; the clamping structure (42) includes a fastener (422) and two half-clamps (421) rotatably connected to the pressure-bearing seat (41), the two half-clamps (421) are arranged opposite to each other along the width direction of the main beam (10); the fastener (422) is used to connect the two half-clamps (421) when the two half-clamps (421) wrap around the main cable.

9. The traveling mechanism of the cable-mounted crane according to claim 1, characterized in that, It also includes a clamping device (50), which includes two locking units (51) arranged opposite to each other in the width direction of the main beam (10); the locking unit (51) includes a second connecting seat (511), a screw (512) and a clamping pad (513); the upper end of the second connecting seat (511) is connected to the main beam (10), and the lower end of the second connecting seat (511) extends to the bottom of the main beam (10) and is threadedly connected to the screw (512); the free end of the screw (512) is connected to the clamping pad (513) for driving the clamping pad (513) to move toward or away from the main cable in the width direction of the main beam (10); And / or, it also includes a winch traction device (60) that is driven connected to the main beam (10) for driving the traveling mechanism of the cable crane to move on the main cable.

10. A method for a cable-mounted crane to overcome obstacles, employing the traveling mechanism of the cable-mounted crane as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S100. When the distance between the first traveling device (20) and the cable clamp in front of it reaches a first preset distance, control the first telescopic drive member (21) of the first traveling device (20) to work, so as to drive the traveling wheel (22) of the first traveling device (20) to separate from the main cable, and control the first telescopic drive member (21) of the remaining traveling devices (20) to work, so as to drive the traveling wheel (22) of the remaining traveling devices (20) to support the main cable. S200, control the traveling mechanism of the cable crane to move along the main cable until the first traveling device (20) passes the cable clamp, and make the traveling wheel (22) of the first traveling device (20) meet the first preset condition, the first preset condition being: the horizontal distance between the center of the first roller (222) and the main cable is not greater than the first preset distance; S300. Adjust the position of the first roller (222) of the first traveling device (20) to meet the second preset condition, the second preset condition being: the center of the first roller (222) coincides vertically with the main cable; S400: Control the first telescopic drive member (21) of the first traveling device (20) to work, so as to drive the traveling wheel (22) to support the main cable; Control the first telescopic drive member (21) of the middle traveling device (20) to work, so as to drive the traveling wheel (22) to separate from the main cable; S500: Fix the first roller (222) of the first traveling device (20), control the guide device (30) to work, so that the main beam (10) deflects relative to the main cable by a first preset angle; release the fixation of the first roller (222) of the first traveling device (20), control the guide device (30) to work, so that the center of the first roller (222) coincides vertically with the main cable; S600: Control the traveling mechanism of the cable-mounted crane to move along the main cable until the next traveling device (20) passes the cable clamp; fix the first roller (222) of the first traveling device (20), control the guide device (30) to work so that the main beam (10) deflects relative to the main cable by a second preset angle; release the fixation of the first roller (222) of the first traveling device (20), control the guide device (30) to work so that the center of the first roller (222) coincides vertically with the main cable; S700, Repeat step 600 until all the middle traveling devices (20) have passed the cable clamp; Repeat step 500 until the last traveling device (20) has passed the cable clamp.

Images