A circulating crane with an intelligent maintenance platform and a working method

Abstract

The application discloses a circulating crane with an intelligent maintenance platform and a working method, and belongs to the technical field of nuclear power station hoisting equipment. The circulating crane comprises a bridge, a rotating mechanism, a working trolley, a trolley track and an intelligent maintenance platform device. The intelligent maintenance platform device is fixed on the working trolley and comprises a lifting maintenance platform, a lifting driving device and a ladder. The working trolley can move linearly along the trolley track, the rotating mechanism can drive the circulating crane to rotate along the annular track by 360 degrees, and the lifting maintenance platform can move up and down along the height direction under the driving of the lifting driving device. The application also establishes a dome maintenance point database in a PLC to realize automatic positioning and intelligent control of the maintenance platform. The application does not need to set up a temporary scaffold, climb an arch ladder or hoist a special maintenance trolley, and therefore the safety and working efficiency of the maintenance operation are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of nuclear power plant lifting equipment technology, and more particularly to a circular crane with an intelligent maintenance platform and its working method. Background Technology

[0002] The containment dome of a nuclear power plant reactor building, located atop the nuclear island, is hemispherical and a crucial component ensuring the integrity and airtightness of the reactor building. Numerous devices are installed on the dome, including passive safety system components, structural and support structures, safety and monitoring equipment, and ventilation and heat exchange piping. Passive safety system components include passive core residual heat removal systems, annular containment tanks, passive containment sprinkler systems, and passive core water injection systems. Structural and support structures primarily consist of support cages, reinforcing plates, internal steel structures, and equipment supports. Safety and monitoring equipment includes sprinkler systems, lighting systems, hydrogen removal devices, detection equipment, structural health monitoring equipment, environmental and condition sensing equipment, and specialized monitoring equipment for the hoisting and construction phases, ensuring environmental safety and accident response capabilities within the reactor building. Ventilation and heat exchange piping integrates ventilation ducts and heat exchanger connections within the dome structure to support passive cooling functions.

[0003] To ensure the long-term stable and reliable operation of all equipment on the containment dome, regular maintenance, troubleshooting, and condition monitoring of the dome equipment are essential.

[0004] Currently, maintenance platforms for containment dome equipment are mainly divided into three types: The first type: temporary scaffolding maintenance platform. This method uses the outer side and underside of the rail support beam of a circular crane bridge, located 10-30 meters above the ground. A supporting base is constructed by welding steel brackets, and the maintenance platform is then assembled layer by layer upwards. The entire erection process takes 3-5 days or even longer. Its drawbacks include: a long erection period, extending equipment downtime; high safety risks for workers performing high-altitude work; complex dome structure, making scaffolding construction difficult; improper management of tools can pose a threat to the nuclear safety environment; and the need for dismantling after completion, making it a temporary measure.

[0005] The second type: Circular crane arch ladder platform. Maintenance is performed using the arch ladder platform, central arch frame, and arched ladder on the circular crane. Its drawbacks are: the arched ladder is complex to manufacture and can easily interfere with the containment vessel and related equipment during installation; the standing position for workers is limited, and the operating space is narrow; the overall erection height is fixed, making it unsuitable for maintenance points with significant elevation differences.

[0006] The third method involves a dedicated maintenance trolley. Using a dome-shaped support structure as a lifting point, the trolley is hoisted onto the main beam of a circular crane and removed as a whole after each maintenance operation. Its drawbacks are: installation and dismantling must be completed for each maintenance operation, making the process cumbersome; a dedicated storage area is required; and the maintenance cycle is increased.

[0007] Furthermore, Chinese patent CN116581940A discloses an automatic walking maintenance device for the stator bore of a large hydro-generator, including a circular track, a traveling trolley, and a lifting work basket. However, this device is only suitable for maintenance of the stator bore of a hydro-generator and does not involve integration with a crane or intelligent positioning functions. Chinese patent CN114590756A discloses an edge-operation auxiliary maintenance device, including a crossbeam, longitudinal beams, and a lifting basket, which utilizes a first drive mechanism and a second drive mechanism to achieve two-dimensional planar movement. Chinese patent CN111422795A discloses a temporary roof lifting platform for a reactor building, including a circular track, an electric trolley, and a lifting basket body, capable of moving circumferentially around the building along the circular track. None of the above-mentioned prior art solves the problem of deep integration with a circular crane, achieving intelligent positioning and automated operation in the maintenance of nuclear power plant dome equipment.

[0008] Nuclear power plants have strict operating cycles, and maintenance and repairs must be completed during shutdowns or specific service windows. Existing maintenance methods generally suffer from being time-consuming and labor-intensive, having low safety margins, and lacking operational flexibility. Therefore, there is an urgent need to develop a platform device that integrates a circular crane, is suitable for the internal working conditions of the nuclear island, and enables intelligent maintenance of dome equipment. Summary of the Invention

[0009] In response to the aforementioned technical problems, a circular crane with an intelligent maintenance platform is provided.

[0010] The technical means employed in this invention are as follows: A circular crane with an intelligent maintenance platform includes: Cable tray; A rotating mechanism, installed at the bottom of the bridge frame, is used to drive the circular crane to rotate 360° along the circular track; The trolley track is installed on the upper surface of the bridge frame; The work trolley is set on the trolley track and can reciprocate linearly along the trolley track; The intelligent maintenance platform device, fixed on the work trolley, includes a lifting maintenance platform, a lifting drive device, and a ladder; one end of the lifting drive device is fixed on the work trolley, and the other end is connected to the lifting maintenance platform, for driving the lifting maintenance platform to move up and down in the height direction; the ladder is fixed on the work trolley for personnel to climb onto the lifting maintenance platform. The parking position detection element for the circular crane is installed on the circular crane to detect whether the circular crane is in a standby position. A rotational positioning detection element is mounted on the rotational mechanism to detect the rotation angle of the circular crane relative to the standby position. A linear positioning detection element is installed on the work trolley and is used to detect the linear position of the intelligent maintenance platform device on the circular crane. A parking position detection element for the work trolley is installed on the work trolley and is used to detect whether the work trolley is in a standby position. A height positioning detection element is installed on the intelligent maintenance platform device to detect the height of the lifting maintenance platform; The control box is electrically connected to each detection element and is used to control the movement of the work trolley and the lifting maintenance platform.

[0011] Furthermore, the control box is equipped with a PLC control system, a touch screen, and control buttons; the PLC control system has a pre-built database of dome maintenance points, the touch screen is used to display and select maintenance points, and the control buttons are used to control the operation of the work trolley and the lifting maintenance platform.

[0012] Furthermore, the parking position detection element of the circular crane is a magnetic switch, and its sensing element is installed near the circular track; the rotary positioning detection element is an absolute encoder; the linear positioning detection element is an absolute encoder; the parking position detection element of the working trolley is a proximity switch; and the height positioning detection element is an absolute encoder.

[0013] Furthermore, the lifting drive device is any one of an electric push rod, a hydraulic cylinder, or a screw lifting mechanism.

[0014] Furthermore, the intelligent maintenance platform device also includes a fence, which is set around the lifting maintenance platform to protect the safety of personnel on the platform.

[0015] On the other hand, the present invention also discloses a method for operating a circular crane with an intelligent maintenance platform, which includes the following steps: Step 1: When the equipment on the dome needs maintenance, select the maintenance point on the touch screen; Step 2: Press the start button for the work trolley, and the work trolley will automatically run to the designated position according to the calculation logic of the PLC control system; Step 3: The maintenance equipment and personnel climb onto the lifting maintenance platform via ladder to complete the pre-maintenance preparations; Step 4: Press the start button for the lifting and maintenance platform. The lifting and maintenance platform will automatically move to the specified height according to the PLC control system's calculation logic. Step 5: After the lifting and maintenance platform stops operating, maintenance work shall be carried out; Step Six: After the maintenance work is completed, press the reset button of the lifting maintenance platform. The lifting maintenance platform will automatically return to the standby position according to the PLC control system's calculation logic. Step 7: The maintenance equipment and personnel are evacuated from the lifting maintenance platform; Step 8: Press the work trolley reset button, and the work trolley will automatically return to the position before the maintenance started according to the PLC control system's calculation logic; Step 9: The circular crane stops operating, and this maintenance work is complete.

[0016] Furthermore, the maintenance point mentioned in step one is the maintenance position coordinate of the dome equipment pre-stored in the PLC control system database. The coordinate adopts a spatial rectangular coordinate system, with the center point of the circular track as the origin and the line connecting the parking position of the circular crane and the center point of the circular track as the X-axis or Y-axis.

[0017] Furthermore, in step two, the PLC control system calculates the current position of the work trolley based on the data fed back by the parking position detection element of the circular crane, the rotary positioning detection element, the linear positioning detection element, and the parking position detection element of the work trolley, and plans the action sequence and movement distance of the work trolley.

[0018] Furthermore, in step four, the PLC control system calculates and plans the movement and lifting distance of the lifting maintenance platform based on the data fed back by the height positioning detection element and the height data of the maintenance point.

[0019] Furthermore, the circular crane can simultaneously perform a combination of rotational, linear, and lifting movements during operation, enabling the lifting and maintenance platform to reach any maintenance position within the dome area.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. This invention eliminates the need for personnel to erect or dismantle scaffolding, climb arched ladders, or hoist and dismantle special maintenance trolleys. Maintenance personnel can work on a stable lifting maintenance platform, avoiding the risks of working at heights near edges and eliminating safety hazards such as scaffolding collapse and falling tools.

[0022] 2. The intelligent maintenance platform of this invention can achieve rapid and accurate automatic positioning and resetting through PLC control system and detection elements, without the need for cumbersome manual operation, reducing the traditional setup cycle of several days to a few minutes of operation time, thus significantly shortening the maintenance cycle.

[0023] 3. This invention combines a dedicated maintenance trolley with a circular crane working trolley, saving on the customization and subsequent storage costs of the dedicated maintenance trolley; eliminating the need for scaffolding erection and dismantling, thus saving significant labor and material costs; and eliminating the need for hoisting a dedicated maintenance trolley, thus saving on hoisting equipment rental costs.

[0024] 4. This invention achieves platform positioning through automated control, eliminating the need for workers to move and erect large amounts of scaffolding materials or climb arched ladders at heights, thus significantly reducing labor intensity.

[0025] 5. This invention establishes a database of dome maintenance points to enable visual operation. Maintenance points can be selected and the platform controlled on a touch screen, making the operation intuitive, convenient, and precise.

[0026] 6. The intelligent maintenance platform of this invention is integrated with the circular crane, which does not require additional factory space, does not affect the maintenance work of other equipment in the wind tunnel, and avoids cross-operation between different levels. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is the front view of the present invention; Figure 2 This is a top view of the present invention; Figure 3 yes Figure 1 Main view of part number 4; Figure 4 yes Figure 1 Side view of part number 4; Figure 5 yes Figure 1 Main view of part number 11; Figure 6 This is the network diagram of the present invention; Figure 7 This is a flowchart of the operation of the present invention; In the diagram: 1. Cable tray; 2. Rotating mechanism; 3. Trolley; 4. Intelligent maintenance platform device; 5. Trolley track; 6. Circular crane parking position detection element; 7. Rotary positioning detection element; 8. Linear positioning detection element; 9. Trolley parking detection element; 10. Height positioning detection element; 11. Control box; 41. Lifting maintenance platform; 42. Lifting drive device; 43. Ladder; 111. Touch screen; 112. Control buttons. Detailed Implementation

[0029] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0033] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms 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, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0034] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0035] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0036] like Figures 1-7 As shown, an embodiment of the present invention discloses a circular crane with an intelligent maintenance platform, comprising: Cable tray 1; Rotating mechanism 2, installed at the bottom of the bridge frame 1, is used to drive the circular crane to rotate 360° along the circular track; The trolley track 5 is installed on the upper surface of the bridge frame 1; The work trolley 3 is set on the trolley track 5 and can reciprocate linearly along the trolley track 5; The intelligent maintenance platform device 4, fixed on the work trolley 3, includes a lifting maintenance platform 41, a lifting drive device 42, and a ladder 43; one end of the lifting drive device 42 is fixed on the work trolley 3, and the other end is connected to the lifting maintenance platform 41, for driving the lifting maintenance platform 41 to move up and down in the height direction; the ladder 43 is fixed on the work trolley 3 for allowing personnel to climb onto the lifting maintenance platform 41. The parking position detection element 6 of the circular crane is installed on the circular crane and is used to detect whether the circular crane is in the standby position; The rotation positioning detection element 7 is installed on the rotation mechanism 2 and is used to detect the rotation angle of the circular crane relative to the standby position. A linear positioning detection element 8 is installed on the working trolley 3 and is used to detect the linear position of the intelligent maintenance platform device 4 on the circular crane. The parking position detection element 9 of the work trolley is installed on the work trolley 3 and is used to detect whether the work trolley 3 is in the standby position; A height positioning detection element 10 is installed on the intelligent maintenance platform device 4 and is used to detect the height of the lifting maintenance platform 41. The control box 11 is electrically connected to each detection element and is used to control the movement of the working trolley 3 and the lifting maintenance platform 41.

[0037] In this embodiment, the cable tray 1 is the main load-bearing structure of the circular crane, adopting a box-beam structure with sufficient strength and rigidity to support the entire weight of the working trolley 3, the intelligent maintenance platform device 4, and maintenance personnel and equipment. Rotating mechanisms 2 are installed at the four corners of the cable tray 1. Each rotating mechanism 2 includes a drive motor and traveling wheels. The drive motor drives the traveling wheels to rotate via a reducer, enabling the circular crane to rotate 360° along the circular track. A trolley track 5 is installed on the upper surface of the cable tray 1, extending along the length of the cable tray 1. The working trolley 3 is mounted on the trolley track 5 and can reciprocate linearly along it. The intelligent maintenance platform device 4 is fixed to the working trolley 3 and moves together with it.

[0038] The intelligent maintenance platform device 4 consists of a lifting maintenance platform 41, a lifting drive device 42, and a ladder 43. The ladder 43 is fixed to the upper surface of the work trolley 3, adopts a steel structure frame, the step spacing is no more than 300mm, and the width is no less than 400mm, and is used to allow maintenance personnel to climb from the work trolley 3 onto the lifting maintenance platform 41.

[0039] One end of the lifting drive device 42 is fixed to the upper surface of the work trolley 3, and the other end is connected to the lifting maintenance platform 41. The lifting drive device 42 can be an electric push rod, a hydraulic cylinder, or a screw lifting mechanism. In this embodiment, the lifting drive device 42 adopts a screw lifting mechanism, in which a servo motor drives the screw to rotate, and the screw nut drives the scissor-type lifting arm to move, pushing the lifting maintenance platform 41 to move up and down in the height direction. It can be designed according to the height requirements of the dome equipment. The lifting maintenance platform 41 is used to carry maintenance personnel and equipment to perform maintenance work on the dome equipment. The lifting maintenance platform 41 is surrounded by a fence with a middle crossbar and a kick plate at the bottom to protect the safety of personnel on the platform and prevent tools from falling. Safety belt attachment points can also be set on the fence for maintenance personnel to attach their safety belts.

[0040] Furthermore, the control box 11 is equipped with a PLC control system, a touch screen 111, and control buttons 112; the PLC control system has a pre-built database of dome maintenance points, the touch screen 111 is used to display and select maintenance points, and the control buttons 112 are used to control the operation of the work trolley 3 and the lifting maintenance platform 41.

[0041] Specifically, the parking position detection element 6 of the circular crane is installed on the circular crane, and its sensing element is installed near the circular track. The parking position detection element 6 is used to detect the position status of the circular crane and set the position of its sensing element as the standby position. In this embodiment, the parking position detection element 6 of the circular crane uses a magnetic switch, which cooperates with the sensing magnetic strip. When the circular crane moves to the standby position, the magnetic switch detects the magnetic strip signal and outputs a position signal to the PLC control system. The rotation positioning detection element 7 is installed on the rotating mechanism 2 of the circular crane and is used to detect the angle of rotation of the circular crane relative to the standby position. In this embodiment, the rotation positioning detection element 7 uses an absolute encoder, which is installed on the output shaft of the drive motor of the rotating mechanism 2. The rotation angle of the circular crane is calculated by detecting the number of rotations and the angle of the motor output shaft. The linear positioning detection element 8 is installed on the working trolley 3 of the circular crane and is used to detect the linear position of the intelligent maintenance platform device 4 on the circular crane trolley track 5. In this embodiment, the linear positioning detection element 8 is an absolute encoder, installed on the output shaft of the drive motor of the working trolley 3. It calculates the linear position of the working trolley 3 on the trolley track 5 by detecting the number of rotations and angles of the motor output shaft. The working trolley parking position detection element 9 is installed on the working trolley 3, with its sensing element installed near the trolley track 5. The working trolley parking position detection element 9 is used to detect the position status of the working trolley 3, setting its sensing element location as the standby position. In this embodiment, the working trolley parking position detection element 9 is a proximity switch. When the working trolley 3 moves to the standby position, the proximity switch detects the sensing block signal and outputs a position signal to the PLC control system.

[0042] A height positioning detection element 10 is installed on the intelligent maintenance platform device 4 to detect the height of the lifting maintenance platform 41. In this embodiment, the height positioning detection element 10 is an absolute encoder, installed at the end of the lead screw of the lifting drive device 42, and calculates the lifting height of the lifting maintenance platform 41 by detecting the number of rotations of the lead screw.

[0043] The control box 11 consists of electrical components such as a PLC control system, a switch, a touch screen 111, and control buttons 112. The control box 11 is installed in a location that is easy to operate and safe, such as near the intelligent maintenance platform device 4 or near the circular track. The protection rating of the control box 11 is no less than IP54 to meet the environmental requirements within the nuclear power plant building.

[0044] The PLC control system is the core control unit. It has a built-in database of maintenance points on the dome, pre-storing the three-dimensional coordinates of points requiring maintenance. The coordinate system for each point is a spatial rectangular coordinate system, with the center point of the circular track as the origin. The X-axis or Y-axis is established using the line connecting the parking position of the circular crane and the center point of the circular track, with the Z-axis pointing vertically upwards. Each maintenance point corresponds to a set of (X, Y, Z) coordinate values, representing the rotation angle of the circular crane, the linear position of the trolley, and the height of the lifting maintenance platform, respectively.

[0045] Touchscreen 111 uses an industrial-grade touchscreen to display a distribution map of the dome maintenance points, the current location status of the circular crane, and the height information of the lifting maintenance platform. Maintenance personnel can select the points that need maintenance via touchscreen 111. Touchscreen 111 is also equipped with an emergency stop button, which can immediately stop all operations in an emergency.

[0046] The control buttons 112 include: a start button for the work trolley to move to a designated point, a start button for the lifting maintenance platform to move to a designated point, a start button for the lifting maintenance platform to return to the standby position, and a start button for the work trolley to return to its position before maintenance began. Each control button 112 is equipped with an indicator light to display the current operating status. In addition, the control box 11 is also equipped with an emergency stop button, which forms a safety interlock circuit with each detection element. When an abnormal signal is detected, all actions will be automatically stopped and an alarm will be triggered.

[0047] When a maintenance point is selected on the touchscreen 111, the PLC control system calculates the current position of the working trolley 3 on the circular crane based on data from the parking position detection element 6, rotary positioning detection element 7, linear positioning detection element 8, and working trolley parking position detection element 9 of the circular crane. Simultaneously, the PLC control system calculates and plans the movement sequence and distance of the working trolley 3. The PLC control system also calculates and plans the movement and lifting distance of the lifting maintenance platform 41 based on data from the height positioning detection element 10 and the height data of the maintenance point. The PLC control system also features a position closed-loop control function: during the movement of the working trolley 3 or the lifting maintenance platform 41, the PLC control system reads the feedback data from each positioning detection element in real time and compares it with the target position. When the position deviation exceeds a preset threshold, the operating parameters of the drive motor are automatically adjusted to correct the position until the target position is reached.

[0048] Optionally, the control box 11 is also equipped with data recording and fault diagnosis functions, which can record information such as the date, time, location of the maintenance point, and platform operating parameters of each maintenance operation, forming a maintenance operation log, which is convenient for later traceability and equipment maintenance management.

[0049] On the other hand, the present invention also discloses a method for operating a circular crane with an intelligent maintenance platform, which includes the following steps: Step 1: When the equipment on the dome needs maintenance, select the maintenance point to be maintained on the touch screen 111; the maintenance point is the coordinate of the maintenance location of the dome equipment that is pre-stored in the PLC control system database.

[0050] Step 2: Press the start button for the trolley operation. The trolley 3 will automatically run to the designated position according to the calculation logic of the PLC control system. The PLC control system calculates the current position of the trolley 3 based on the data fed back by the parking position detection element 6 of the circular crane, the rotary positioning detection element 7, the linear positioning detection element 8 and the parking position detection element 9 of the trolley, and plans the action sequence and movement distance of the trolley 3.

[0051] Step 3: The maintenance equipment and personnel climb onto the lifting maintenance platform 41 via ladder 43 to complete the pre-maintenance preparations; during the climbing process, the railing and kickboard provide safety protection.

[0052] Step 4: Press the start button for the lifting maintenance platform. The lifting maintenance platform 41 will automatically run to the specified height according to the calculation logic of the PLC control system. The PLC control system calculates and plans the action and lifting distance of the lifting maintenance platform 41 based on the data fed back by the height positioning detection element 10 and the height data of the maintenance point.

[0053] Step 5: After the lifting and maintenance platform 41 stops operating, maintenance work is carried out; during the maintenance process, the safety belt attachment points on the railing are provided for maintenance personnel to attach their safety belts to ensure safety during high-altitude operations.

[0054] Step Six: After the maintenance work is completed, press the reset button of the lifting maintenance platform. The lifting maintenance platform 41 will automatically return to the standby position according to the PLC control system's calculation logic; the standby position is the initial lowest position.

[0055] Step 7: The maintenance equipment and personnel are evacuated from the lifting maintenance platform 41; Step 8: Press the work trolley reset button. The work trolley 3 will automatically return to the position before the maintenance started according to the PLC control system's calculation logic. The position before the maintenance started is the initial standby position. Step 9: The circular crane stops operating, and this maintenance work is complete.

[0056] The above operations complete one maintenance task. The positioning and resetting of the maintenance platform are simple, accurate, and the entire process is safe and reliable. During operation, the circular crane can simultaneously perform a combination of rotational, linear, and lifting movements, enabling the lifting maintenance platform 41 to reach any maintenance position within the dome area.

[0057] Furthermore, the maintenance point mentioned in step one is the maintenance position coordinate of the dome equipment pre-stored in the PLC control system database. The coordinate adopts a spatial rectangular coordinate system, with the center point of the circular track as the origin and the line connecting the parking position of the circular crane and the center point of the circular track as the X-axis or Y-axis.

[0058] Furthermore, in step two, the PLC control system calculates the current position of the working trolley 3 based on the data fed back by the circular crane parking position detection element 6, the rotary positioning detection element 7, the linear positioning detection element 8, and the working trolley parking position detection element 9, and plans the action sequence and movement distance of the working trolley 3.

[0059] Furthermore, in step four, the PLC control system calculates and plans the movement and lifting distance of the lifting maintenance platform 41 based on the data fed back by the height positioning detection element 10 and the height data of the maintenance point.

[0060] Furthermore, the circular crane can simultaneously perform a combination of rotational, linear, and lifting movements during operation, enabling the lifting and maintenance platform 41 to reach any maintenance position within the dome area.

[0061] Optionally, the dome maintenance point database is implemented by constructing X-axis coordinate arrays, Y-axis coordinate arrays, and Z-axis coordinate arrays in the global data block of the PLC. The three arrays have the same length, and the three array elements corresponding to the same index position together constitute the spatial coordinate value of a maintenance point. The PLC control system dynamically addresses the three coordinate arrays by using the maintenance point number selected by the touch screen as the index variable, and reads the spatial coordinates of the target maintenance point.

[0062] Specifically, in this embodiment, the dome maintenance point database is constructed within the global data block of the PLC control system. Specifically, X-axis coordinate arrays, Y-axis coordinate arrays, and Z-axis coordinate arrays are constructed within the PLC's global data block. Each array uses the ARRAY data type, and the array element type is selected as a double-integer type based on the positioning accuracy requirements. This type provides a data range of 32-bit signed integers, sufficient to meet the accuracy requirements of the dome maintenance point coordinates. The three constructed arrays have the same length and consistent index range, ensuring that the three array elements corresponding to the same index position together constitute the complete coordinate value of a three-dimensional spatial point. After creating the coordinate arrays, the spatial coordinates of each maintenance point on the dome are assigned to the three coordinate arrays according to a unified numbering order. Once the assignment is complete, the dome maintenance point database is established.

[0063] When selecting a maintenance point on the touchscreen, the operator selects the target maintenance point through the touchscreen interface. The touchscreen then sends the preset location number corresponding to that maintenance point to the PLC. The PLC program first obtains this preset location number, which is the index position of the maintenance point's coordinates in the array. The PLC assigns this number to a double-integer variable as a dynamic subscript, and then uses this variable to access the array elements of the three coordinate arrays. Specifically, the PLC program reads the X-axis, Y-axis, and Z-axis coordinate values ​​of the corresponding positions in parallel or sequentially using the syntax formats "data block name.X-axis array[index variable]", "data block name.Y-axis array[index variable]", and "data block name.Z-axis array[index variable]". After reading, the three-dimensional coordinate values ​​are transmitted to the control system. The control system then drives the rotating mechanism, the work trolley, and the lifting maintenance platform to automatically move to the target maintenance position according to the preset calculation logic, thus completing the automatic positioning of the dome maintenance of the circular crane. The index variable can be changed in real time according to the control logic during program execution, thereby realizing dynamic addressing and data extraction of any preset position at runtime, without the need to write data reading instructions separately for each maintenance point.

[0064] The advantage of this database construction method lies in the fact that, through array index addressing, the PLC program does not need to write separate data read instructions for each maintenance point. It only needs to change the value of the index variable to access the coordinates of any maintenance point, greatly reducing the amount of program code and improving the program's maintainability and scalability. Furthermore, when a new maintenance point is added to the dome, only the array length needs to be expanded in the data block and the new coordinate data added; no modification to the PLC control logic program is required, demonstrating excellent engineering adaptability.

[0065] In addition, the database can also store supplementary information for each maintenance point, including equipment name, maintenance cycle, and last maintenance date. This is achieved by creating parallel arrays, i.e., additional string arrays or structure arrays are constructed to store the above information. The touchscreen interface can display the list of maintenance points and supplementary information to assist operators in selecting maintenance points.

[0066] Optionally, the PLC control system has a built-in position closed-loop correction module. The position closed-loop correction module reads the feedback signals of the rotary positioning detection element, the linear positioning detection element, or the height positioning detection element in real time during the movement of the work trolley or the lifting maintenance platform, compares them with the target position, and automatically adjusts the drive parameters to correct the position when the position deviation exceeds a preset threshold until the deviation is less than the preset threshold.

[0067] Optionally, when the PLC control system controls the movement of the circular crane, the working trolley, and the lifting maintenance platform, it adopts a multi-axis linkage control strategy, so that at least two of the rotational movement of the circular crane, the linear movement of the working trolley, and the lifting movement of the lifting maintenance platform occur simultaneously, so as to transport the lifting maintenance platform to the target maintenance point in the shortest path and time.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A circular crane with an intelligent maintenance platform, characterized in that, include: Cable tray (1); The rotating mechanism (2) is installed at the bottom of the bridge frame (1) and is used to drive the circular crane to rotate 360° along the circular track; The trolley track (5) is installed on the upper surface of the bridge frame (1); The work trolley (3) is set on the trolley track (5) and can reciprocate linearly along the trolley track (5); The intelligent maintenance platform device (4) is fixed on the work trolley (3) and includes a lifting maintenance platform (41), a lifting drive device (42), and a ladder (43). One end of the lifting drive device (42) is fixed on the work trolley (3), and the other end is connected to the lifting maintenance platform (41) to drive the lifting maintenance platform (41) to move up and down in the height direction. The ladder (43) is fixed on the work trolley (3) and is used for personnel to climb onto the lifting maintenance platform (41). The parking position detection element (6) of the circular crane is installed on the circular crane and is used to detect whether the circular crane is in the standby position; A rotational positioning detection element (7) is installed on the rotational mechanism (2) and is used to detect the rotation angle of the circular crane relative to the standby position. A linear positioning detection element (8) is installed on the work trolley (3) to detect the linear position of the intelligent maintenance platform device (4) on the circular crane; The parking position detection element (9) of the work trolley is installed on the work trolley (3) and is used to detect whether the work trolley (3) is in the standby position; A height positioning detection element (10) is installed on the intelligent maintenance platform device (4) to detect the height of the lifting maintenance platform (41); The control box (11) is electrically connected to each detection element and is used to control the operation of the work trolley (3) and the lifting maintenance platform (41).

2. The circular crane with an intelligent maintenance platform according to claim 1, characterized in that, The control box (11) is equipped with a PLC control system, a touch screen (111) and control buttons (112); the PLC control system has a pre-built database of dome maintenance points, the touch screen (111) is used to display and select maintenance points, and the control buttons (112) are used to control the operation of the work trolley (3) and the lifting maintenance platform (41).

3. The circular crane with an intelligent maintenance platform according to claim 1, characterized in that, The circular crane parking position detection element (6) is a magnetic switch, and its sensing element is installed near the circular track; the rotary positioning detection element (7) is an absolute encoder; the linear positioning detection element (8) is an absolute encoder; the trolley parking position detection element (9) is a proximity switch; and the height positioning detection element (10) is an absolute encoder.

4. The circular crane with an intelligent maintenance platform according to claim 1, characterized in that, The lifting drive device (42) can be any one of an electric push rod, a hydraulic cylinder, or a screw lifting mechanism.

5. The circular crane with an intelligent maintenance platform according to claim 1, characterized in that, The intelligent maintenance platform device (4) also includes a fence, which is set around the lifting maintenance platform (41) to protect the safety of personnel on the platform.

6. A method for operating a circular crane with an intelligent maintenance platform, characterized in that, The circular crane with an intelligent maintenance platform as described in any one of claims 1 to 5 comprises the following steps: Step 1: When the equipment on the dome needs maintenance, select the maintenance point to be maintained on the touch screen (111); Step 2: Press the start button for the work trolley, and the work trolley (3) will automatically run to the designated position according to the calculation logic of the PLC control system; Step 3: The maintenance equipment and personnel climb onto the lifting maintenance platform (41) via ladder (43) to complete the pre-maintenance preparations; Step 4: Press the start button for the lifting and maintenance platform. The lifting and maintenance platform (41) will automatically run to the specified height according to the calculation logic of the PLC control system. Step 5: After the lifting maintenance platform (41) stops operating, maintenance work is carried out; Step 6: After the maintenance work is completed, press the reset button of the lifting maintenance platform. The lifting maintenance platform (41) will automatically return to the standby position according to the PLC control system operation logic. Step 7: The maintenance equipment and personnel are evacuated from the lifting maintenance platform (41). Step 8: Press the work trolley reset button, and the work trolley (3) will automatically return to the position before the start of maintenance according to the PLC control system's calculation logic; Step 9: The circular crane stops operating, and this maintenance work is complete.

7. The working method according to claim 6, characterized in that, The maintenance point mentioned in step one is the coordinate of the maintenance position of the dome equipment, which is stored in the PLC control system database in advance. The coordinate adopts a spatial rectangular coordinate system, with the center point of the circular track as the origin and the line connecting the parking position of the circular crane and the center point of the circular track as the X-axis or Y-axis.

8. The working method according to claim 6, characterized in that, In step two, the PLC control system calculates the current position of the working trolley (3) based on the data fed back by the circular crane parking position detection element (6), the rotary positioning detection element (7), the linear positioning detection element (8), and the working trolley parking position detection element (9), and plans the action sequence and movement distance of the working trolley (3).

9. The working method according to claim 6, characterized in that, In step four, the PLC control system calculates and plans the movement and lifting distance of the lifting maintenance platform (41) based on the data fed back by the height positioning detection element (10) and the height data of the maintenance point.

10. The working method according to claim 6, characterized in that, The circular crane can simultaneously perform a combination of rotational, linear and lifting movements during operation, enabling the lifting and maintenance platform (41) to reach any maintenance position in the dome area.

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