CN214271702U - Catwalk sag adjusting device for erecting main cable based on suspension bridge air spinning method - Google Patents
Catwalk sag adjusting device for erecting main cable based on suspension bridge air spinning method Download PDFInfo
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- CN214271702U CN214271702U CN202022721737.6U CN202022721737U CN214271702U CN 214271702 U CN214271702 U CN 214271702U CN 202022721737 U CN202022721737 U CN 202022721737U CN 214271702 U CN214271702 U CN 214271702U
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Abstract
The utility model provides a pair of catwalk sag adjustment device based on suspension bridge air spinning method erects main push-towing rope, it mainly comprises anchor beam, anchor pull rod, adjustment rope, jack. One end of the anchoring pull rod is connected with the anchoring ear plate on the cable saddle or the grid reaction frame through a universal hinge, and the other end of the anchoring pull rod is fixed with the anchor beam through a nut. The sag adjustment rope passes through limiting device below each strand former crossbeam on the catwalk and is fixed with it, and to the main span side: two ends of the adjusting rope are respectively anchored on the anchor beam through the clamping plates; for the side span side: one end of the sag adjusting rope is anchored on the anchor beam, and the other end of the sag adjusting rope is connected with an anchoring component on the anchorage buttress. When the catwalk downwarping exceeds the allowable value, the anchor beam and the pull rod are pushed by the penetrating jack, so that the tensioning adjusting rope is tensioned to drive the catwalk to warp upwards, and the purpose of adjusting the catwalk sag is achieved.
Description
Technical Field
The utility model relates to a suspension bridge main push-towing rope construction field specifically is a catwalk sag adjustment device based on suspension bridge air spinning method erects main push-towing rope.
Background
Two construction processes are provided for erecting a main cable of a suspension bridge, one is a prefabricated parallel strand method (PPWS), namely, steel wires are prefabricated into parallel strands in a factory in advance, and then the parallel strands are pulled and erected on a catwalk by using a traction system; the other is the Air Spinning (AS) process, i.e. the main cable strand is formed at the bridge site by drawing the steel wires back and forth using spinning wheels. The construction of an air line (AS) method has a long history, and is still widely used abroad at present AS one of main cable construction methods, and is influenced by traditional construction.
With the continuous development of economic construction in China, the foundation engineering construction such AS bridge construction and the like obtains unprecedented development opportunities, particularly the demand of constructing a super-large-span (more than 2000 m) suspension bridge across rivers, seas and canyons is more and more outstanding, and compared with a method of prefabricating parallel strands (PPWS method), the method for erecting the main cable of the super-large-span suspension bridge by adopting an Air Spinning (AS) method can solve the problems of strand transportation and traction caused by overlarge weight of the strands; the catwalk can be designed into a flexible structure, and the material consumption is less; the steel wire is braided on site, so that the cable manufacturing cost in a factory is saved; the main cable erected by the AS method has wide application prospect in the construction process of the ultra-large span suspension bridge.
At present, a constant tension control method is adopted for erecting a main cable by an Air Spinning (AS) method, and the dead weight of partial steel wires is transmitted to a catwalk to cause the downwarping of the catwalk in the process of weaving the cable in the air by the steel wires. After the catwalk is downwarped, the length of the steel wire continuously woven in the later period is inconsistent with the length of the steel wire woven in the earlier period, and when the steel wires exist in one strand, the stress of the same strand is unevenly distributed, so that the structure safety is influenced. Therefore, the sag of the catwalk needs to be adjusted to return to the initial linear shape.
SUMMERY OF THE UTILITY MODEL
The above-mentioned problem to prior art exists, the utility model provides a suspension bridge catwalk sag adjustment device is applicable to suspension bridge main push-towing rope (AS) method construction, the utility model discloses a device is in order to reach the main push-towing rope strand of assurance and compile silk quality, and each strand steel wire atress is even, and strand line type and strand internal wire stress difference satisfy the designing requirement.
In order to achieve the purpose, the utility model provides a catwalk sag adjustment device for erecting a main cable based on a suspension bridge air spinning method, which is characterized by comprising a cable saddle or a grating reaction frame, a universal hinge structure, an anchoring pull rod, a catwalk sag adjustment rope and a catwalk sag adjustment piece;
a universal hinge structure, an anchoring pull rod, a catwalk sag adjusting rope and a catwalk sag adjusting piece form a group of sag adjusting components, at least two groups of sag adjusting components are fixedly connected between two ends of the cable saddle or the grating reaction frame and two ends of the anchoring beam in parallel;
one end of an anchoring pull rod in the sag adjustment assembly is fixedly connected with one end of the cable saddle or the grating reaction frame through the universal hinge structure, and the other end of the anchoring pull rod is fixedly connected with one end of the anchoring beam at the same side;
one ends of the two catwalk sag adjusting ropes are fixed on the anchoring beams and are arranged between the two anchoring pull rods in parallel;
the catwalk verticality adjusting piece is arranged at a hole position corresponding to an anchoring pull rod on the anchoring beam deviating from the cable saddle or the grating reaction frame;
and a plurality of strand forming devices are arranged on the catwalk sag adjusting rope.
The universal hinge structure consists of a first connecting piece, a second connecting piece, a first connecting pin shaft and a second connecting pin shaft;
the first connecting piece is U-shaped, and the second connecting piece consists of a U-shaped connecting part and an arc-shaped connecting lug plate fixedly connected with the outer side of the bottom of the U-shaped connecting part;
the first connecting piece is connected with the arc-shaped connecting lug plate through a first connecting pin shaft;
the second connecting pin shaft penetrates through the through hole on the U-shaped connecting part to be connected with an anchoring ear plate fixed on the cable saddle or the grating reaction frame;
the first connecting pin shaft and the second connecting pin shaft are arranged vertically;
the bottom of the first connecting piece is fixedly connected with the anchoring pull rod through a connecting nut.
The catwalk verticality adjusting piece is composed of a supporting split heads and a penetrating jack, and the supporting split heads are arranged between the anchoring beam and the penetrating jack.
The catwalk sag adjusting rope penetrates through the anchoring beam, one end of the catwalk sag adjusting rope, close to the side of the cable saddle, is fixed through the first base plate tightly attached to the anchoring beam and the clamping plate arranged between the anti-skid clamping rope and the first base plate.
The catwalk sag adjustment device further comprises a cable saddle buttress anchoring beam composed of a first supporting beam and a second supporting beam, wherein an anchoring lug is welded on the anchoring beam, a cable catwalk sag adjustment rope is connected with the anchoring lug on the cable saddle buttress anchoring beam through a connecting pin and welded, and is fastened through a rope clamp.
The utility model has the advantages as follows:
the catwalk sag adjusting device can realize simultaneous adjustment of the main span catwalks and the side span catwalks, so that the catwalk adjusting tension is reduced, the construction difficulty is reduced, and the construction efficiency is improved; 2. the anchoring pull rod is connected with the main cable saddle or the grille reaction frame through the universal hinge, and when the sag of the catwalk is adjusted, the pull rod can adapt to the linear rotation of the sag adjusting rope and is always in a pulled state, so that the stress safety of the structure is ensured; 3. for the oversized span suspension bridge, the sag adjustment amount of the main span catwalk is large, the sag of the mid-span catwalk can be adjusted by two sets of the sag adjustment devices of the mid-span catwalk at the same time, the adjustment stroke is large, and the adjustment capacity is strong; 4. the catwalk sag adjusting rope is connected with the strand formers fixed on the catwalk, and when the anchor beam is pushed by the jack, the adjusting rope at each strand former is uniformly stressed, so that the deflection on the catwalk can be accurately controlled, and the catwalk is ensured to be restored to the initial line shape; 5. this kind of catwalk sag adjustment device, simple manufacture, convenient operation, the adjustment ability is strong, and the adjustment precision is high, has improved strand system cable precision, has reduced the interior wire stress difference of strand, has guaranteed the strand and has erect the quality.
The above description is only an overview of the technical solution of the present invention, and in order to clearly understand the technical means of the present invention and to implement the technical solution according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.
Drawings
FIG. 1 is a plan view of a catwalk sag adjustment device;
FIG. 2 is a side view of an anchor beam of the catwalk sag adjustment apparatus;
FIG. 3 is a side view of a catwalk sag adjustment device;
FIG. 4 is a cross-sectional view of the strand former and catwalk;
FIG. 5 is an elevation view of an anchoring beam at a slack cable saddle buttress for a catwalk sag adjustment;
FIG. 6 is a side view of an anchoring beam at a slack cable saddle buttress for a catwalk sag adjustment;
FIG. 7 is a schematic view of a second connector configuration;
fig. 8 is a schematic view of the construction operation of the catwalk sag adjustment device for erecting the main cable based on the suspension bridge air spinning method.
Description of reference numerals:
0. cable saddle or grid reaction frame; 1. anchoring a pull rod; 2. anchoring the beam; 3. a catwalk sag adjustment rope; 4. a splint; 5. an anti-slip rope clip; 6. a first connecting member; 7. a first connecting pin shaft; 8. a second connecting member; 9. a connecting nut; 10. a second connecting pin shaft; 11. anchoring the ear plate; 12. supporting a split heads; 13. a center-penetrating jack; 14. a locknut; 15. fastening a nut; 17. anchoring a tie-rod backing plate; 18. a sag adjusting rope backing plate; 19. an anchor beam connecting plate; 20. a first support beam; 21. a second support beam; 22. anchoring the ear; 23. a connecting pin; 24. a strand former; 25. a limiting device; 26. a U-shaped connecting part; 27. the arc-shaped connecting ear plate; 28. a main cable strand; 29. catwalk sag adjustment piece.
Detailed Description
The following description is provided for illustrative embodiments of the present invention, and other advantages and effects of the present invention will be readily apparent to those skilled in the art from the disclosure herein.
The exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, which, however, may be embodied in many different forms and are not limited to the embodiments described herein, which are provided for complete and complete disclosure of the present invention and to fully convey the scope of the invention to those skilled in the art. The terminology used in the exemplary embodiments presented in the accompanying drawings is not intended to be limiting of the invention. In the drawings, the same units/elements are denoted by the same reference numerals.
Unless otherwise defined, terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Further, it will be understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense.
The first embodiment is as follows:
the utility model discloses a first embodiment relates to a catwalk plumbing adjusting device based on suspension bridge air spinning method erects main push-towing rope, and it is shown with reference to figure 1, figure 2, figure 3 that the device includes:
the anchor rod 1, the anchor rod 1 includes 2 at least, anchor rod 1 one end and universal hinge structure of universal hinge link to fix, another end crosses anchor roof beam 2 and anchors through anchor rod tie plate 17 and fastening nut 15;
the first connecting piece 6 and the second connecting piece 8 jointly form a universal hinge structure capable of adapting to rotation through a first connecting pin shaft 7 and a second connecting pin shaft 10 (specifically, the first connecting piece 6 is U-shaped, the second connecting piece 8 consists of a U-shaped connecting part 26 shown in figure 7 and an arc-shaped connecting lug plate 27 fixedly connected with the outer side of the bottom of the U-shaped connecting part 26, the first connecting piece 6 is connected with the arc-shaped connecting lug plate 27 through the first connecting pin shaft 7, the second connecting pin shaft 10 penetrates through a through hole in the U-shaped connecting part 26 to be connected with an anchoring lug plate 11 fixed on a cable saddle or a grating reaction frame 0, and is fixed with the anchoring lug plate 11 fixed on the cable saddle or the grating reaction frame 0 through the second connecting pin shaft 10; the side of the anchoring beam 2 close to the cable saddle anchors the catwalk sag adjustment rope 3 through a sag adjustment rope base plate 18, a clamping plate 4 and an anti-slip rope clamp 5. The anchoring beam 2 is connected into a whole through the connecting plate 19, and the clamping plate 16 is respectively arranged at the anchoring beam pull rod 1 and the anchoring support position of the catwalk verticality adjusting rope 3, so that the reliable stress of the structure is ensured.
Example two:
on the basis of the first embodiment, as shown in fig. 4, 5 and 6, 2 rope strands 3 for adjusting the sag of the scattered rope catwalk are arranged and pass through strand forming devices arranged at regular intervals on the catwalk; the first supporting beam 20 and the second supporting beam 21 form a cable saddle buttress anchoring beam, the anchoring lug 22 is welded on the cable saddle buttress anchoring beam, the cable catwalk sag adjusting rope 3 is anchored through the connecting pin 23 and the rope clip, and the arrangement position of the anchoring lug 22 on the cable saddle buttress anchoring beam needs to ensure that the cable saddle buttress sag adjusting rope 3 is parallel to the main cable.
Example three:
on the basis of the example, a separate adjusting method is adopted for adjusting the sag of the catwalk, and catwalk sag adjusting devices are arranged on both the middle span and the side span of the catwalk to respectively adjust the sag of the middle span and the side span of the catwalk;
further, for the main span catwalk sag adjusting piece 29, the cable saddles at the tops of the two banks close to the main span are respectively provided with an anchoring beam 2, an anchoring beam pull rod 1 and a connecting device which are connected and fixed with the cable saddles, and the catwalk sag adjusting ropes 3 are respectively anchored on the anchor beams at the middle span sides of the two banks through a clamping plate 4 and an anti-slip rope clamp 5;
further, for the side span side catwalk sag adjusting piece 29, an anchoring beam 2 is arranged on the side span side of the tower top grating reaction frame, an anchoring beam pull rod 1 and a connecting device are fixedly connected with the grating reaction frame, a cable saddle buttress anchoring beam consisting of a first supporting beam 20 and a second supporting beam 21 is arranged on the top surface of the cable saddle buttress, one end of a catwalk sag adjusting rope 3 is anchored on the tower top side anchoring beam 2 through a clamping plate 4 and an anti-slip rope clamp 5, and the other end of the cable saddle sag adjusting rope 3 passes through a cable strand former beam bottom surface limiting device arranged on the side span side catwalk at certain intervals and is fixed with the cable saddle buttress anchoring beam arranged on the top surface of the cable saddle buttress through an anchoring lug 22, a connecting pin 23 and an anti-slip rope clamp.
Example four:
on the basis of the above example, further, the catwalk sag adjustment piece is provided with a support stool 12 and a penetrating jack 13 at the position, corresponding to the anchor beam pull rod hole, on the anchor beam 2, the catwalk is gradually warped downwards as the number of spinning layers increases in the process of cabling the steel wire on the catwalk, and after the warping amount exceeds an allowable value, the penetrating jack 13 synchronously pushes the anchor beam 2 and the anchor pull rod 1 so as to tension the adjustment rope to drive the catwalk to wrap upwards, thereby achieving the purpose of adjusting the catwalk sag.
Example five:
a construction method of a catwalk sag adjustment device for erecting a main cable based on a suspension bridge Air Spinning (AS) method is combined with a figure 8, and specifically comprises the following steps:
s1, a first connecting piece 6, a second connecting piece 8 and a first connecting pin 7 are integrated and connected with an anchoring ear plate 11 welded on the counter force of a main cable saddle or a grating into a whole through a second connecting pin 10, and the installation anchoring pull rod 1 is fixed on the first connecting piece 6 through a connecting nut 9.
S2, the anchoring beam 2 is connected into a whole through an anchoring pull rod base plate 17, a sag adjusting rope base plate 18 and an anchoring beam connecting plate 19, and the front end of the anchoring pull rod 1 penetrates through the anchoring beam 2 and is fixed on the anchoring beam 2 through a fastening nut 15;
s3, one end of the catwalk sag adjustment rope 3 penetrates through the anchoring beam 2 and is anchored on the anchoring beam 2 by adopting a clamping plate 4 and an anti-slip rope clamp 5, for a main span, the rope head at the other end of the catwalk sag adjustment rope 3 sequentially penetrates through limiting devices arranged below the cross beams of the strand formers on the catwalk, and after reaching the anchor beam at the midspan side of the main cable saddle on the opposite bank, the rope head is anchored by adopting the clamping plate 4 and a protective rope clamp 5; to the side span side, the rope head at the other end of the catwalk verticality adjusting rope 3 sequentially penetrates through a limiting device arranged below a cable strand former beam on the side span side catwalk, and is fixed through an anchoring lug 22, a connecting pin 23 and a rope clamp after the rope head reaches a cable saddle buttress anchoring beam on the top surface of the cable saddle buttress.
S4, a strand former is connected with a catwalk into a whole through a bottom cross beam of a catwalk portal, part of the weight of a steel wire is transmitted to the catwalk through strand forming in the steel wire cabling process, the catwalk is gradually downwards bent along with increase of the number of spinning, spinning operation is suspended when the downward deflection of the catwalk exceeds an allowable value, a support split heads 12 and a penetrating jacks 13 are sequentially installed on an anchoring beam 2, a check nut 14 is screwed down, a fastening nut 15 is unscrewed, the penetrating jacks 13 are synchronously controlled, the anchoring beam 2 is pushed towards a saddle side, so that a catwalk verticality adjusting rope 3 is tensioned to drive the catwalk to ascend, the fastening nut 15 is locked after the anchoring beam 1 and the anchoring beam 2 are restored to an initial state position, the anchoring pull rod 1 and the anchoring beam 2 are detached, and the check nut 14, the penetrating jacks 13 and the support split heads 12 are detached.
To sum up, the utility model provides a this kind of catwalk plumbing adjusting device who is applicable to suspension bridge main push-towing rope Aerial Spinning (AS) method construction's advantage is:
this kind of catwalk sag adjustment device, simple manufacture, convenient operation, the adjustment ability is strong, and the adjustment precision is high, has improved strand system cable precision, has reduced the interior wire stress difference of strand, has guaranteed the strand and has erect the quality.
The catwalk sag adjustment adopts a separated adjustment method, the main span catwalk and the side span catwalk can be adjusted simultaneously, the catwalk adjustment tension is reduced, the construction difficulty is reduced, and the construction efficiency is improved; the anchoring pull rod is connected with the main cable saddle or the grille reaction frame through the universal hinge, and when the sag of the catwalk is adjusted, the pull rod can adapt to the linear rotation of the sag adjusting rope and is always in a pulled state, so that the stress safety of the structure is ensured; for the oversized span suspension bridge, the sag adjustment amount of the main span catwalk is large, the sag of the mid-span catwalk can be adjusted by two sets of the sag adjustment devices of the mid-span catwalk at the same time, the adjustment stroke is large, and the adjustment capacity is strong; the catwalk sag adjustment rope is connected with the strand formers fixed on the catwalk, and when the jack pushes the anchor beam, the stress of the adjustment rope at each strand former is uniform, so that the deflection on the catwalk can be accurately controlled, and the catwalk is ensured to be restored to be in an initial linear shape.
Parts of the above embodiments that are not specifically described are well known components and conventional structures or conventional means in the art and will not be described in detail herein.
In the case of no conflict, a person skilled in the art may combine the related technical features in the above examples according to actual situations to achieve corresponding technical effects, and details of various combining situations are not described herein.
The foregoing is illustrative of the preferred embodiments of the present invention, and the present invention is not to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent changes and modifications made to the above embodiments according to the technical spirit of the present invention all fall within the scope of the technical solution of the present invention. The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art, and all such changes are within the scope of the present invention.
Claims (5)
1. The utility model provides a catwalk sag adjustment device based on main push-towing rope is erect to suspension bridge air spinning method which characterized in that: comprises a cable saddle or a grille reaction frame (0), a universal hinge structure, an anchoring pull rod (1), a catwalk verticality adjusting rope (3) and a catwalk verticality adjusting piece (29);
a universal hinge structure, an anchoring pull rod (1), a catwalk sag adjusting rope (3) and a catwalk sag adjusting piece (29) form a group of sag adjusting components, at least two groups of sag adjusting components are fixedly connected between two ends of the cable saddle or the grating reaction frame (0) and two ends of the anchoring beam (2) in parallel;
one end of an anchoring pull rod (1) in the sag adjustment assembly is fixedly connected with one end of the cable saddle or the grating reaction frame (0) through the universal hinge structure, and the other end of the anchoring pull rod (1) is fixedly connected with one end of the anchoring beam (2) on the same side;
one ends of two catwalk sag adjusting ropes (3) are fixed on the anchoring beams (2) and are arranged between the two anchoring pull rods (1) in parallel;
the catwalk verticality adjusting piece (29) is arranged at a hole position corresponding to the anchoring pull rod (1) on the anchoring beam (2) deviating from the cable saddle or the grating reaction frame (0);
the catwalk sag adjusting rope (3) is provided with a plurality of strand formers (24).
2. The catwalk sag adjustment device of claim 1, wherein: the universal hinge structure is composed of a first connecting piece (6), a second connecting piece (8), a first connecting pin shaft (7) and a second connecting pin shaft (10);
the first connecting piece (6) is U-shaped, and the second connecting piece (8) is composed of a U-shaped connecting part (26) and an arc-shaped connecting lug plate (27) fixedly connected with the outer side of the bottom of the U-shaped connecting part (26);
the first connecting piece (6) is connected with the arc-shaped connecting lug plate (27) through a first connecting pin shaft (7);
the second connecting pin shaft (10) penetrates through a through hole on the U-shaped connecting part (26) to be connected with an anchoring ear plate (11) fixed on the cable saddle or the grating reaction frame (0);
the first connecting pin shaft (7) and the second connecting pin shaft (10) are arranged vertically;
the bottom of the first connecting piece (6) is fixedly connected with the anchoring pull rod (1) through a connecting nut (9).
3. The catwalk sag adjustment device of claim 1, wherein: the catwalk verticality adjusting piece (29) is composed of a supporting split heads (12), a penetrating jack (13) and a locknut (14) on the top of the penetrating jack (13), and the supporting split heads (12) are arranged between the anchoring beam (2) and the penetrating jack (13).
4. The catwalk sag adjustment device of claim 1, wherein: the catwalk sag adjustment rope (3) penetrates through the anchoring beam (2) and is close to one end of the cable saddle side, and the catwalk sag adjustment rope is fixed through a sag adjustment rope base plate (18) tightly attached to the anchoring beam (2) and a clamping plate (4) arranged between the anti-skid clamping rope (5) and the sag adjustment rope base plate (18).
5. The apparatus of any one of claims 1 to 4, wherein: still include the loose cable saddle buttress anchor roof beam of constituteing by first supporting beam (20) and second supporting beam (21), anchor ear (22) welding is on anchor roof beam (2), loose cable catwalk sag adjustment rope pass through connecting pin (23) and weld anchor ear (22) on the loose cable saddle buttress anchor roof beam are connected to fasten through the rope clip loose cable catwalk sag adjustment rope, and this loose cable catwalk sag adjustment rope is parallel with the main push-towing rope.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022721737.6U CN214271702U (en) | 2020-11-23 | 2020-11-23 | Catwalk sag adjusting device for erecting main cable based on suspension bridge air spinning method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022721737.6U CN214271702U (en) | 2020-11-23 | 2020-11-23 | Catwalk sag adjusting device for erecting main cable based on suspension bridge air spinning method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112227225A (en) * | 2020-11-23 | 2021-01-15 | 中交二公局第二工程有限公司 | Catwalk sag adjusting device for erecting main cable based on suspension bridge air spinning method and construction method of catwalk sag adjusting device |
| CN114380105A (en) * | 2022-01-12 | 2022-04-22 | 济南佰思特自动化技术有限公司 | System and method for vertically controlling steel strip based on PID algorithm |
-
2020
- 2020-11-23 CN CN202022721737.6U patent/CN214271702U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112227225A (en) * | 2020-11-23 | 2021-01-15 | 中交二公局第二工程有限公司 | Catwalk sag adjusting device for erecting main cable based on suspension bridge air spinning method and construction method of catwalk sag adjusting device |
| CN114380105A (en) * | 2022-01-12 | 2022-04-22 | 济南佰思特自动化技术有限公司 | System and method for vertically controlling steel strip based on PID algorithm |
| CN114380105B (en) * | 2022-01-12 | 2024-04-23 | 济南佰思特自动化技术有限公司 | System and method for vertically controlling steel belt based on PID algorithm |
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