PRT personal rapid transportation system vehicle-mounted guide track changing device and manufacturing method

Abstract

The present invention relates to a vehicle-mounted guide track-changing device and control method for a PRT personal rapid transportation system, comprising: a PRT trolley, a support, a vehicle-mounted guide device, a direction-changing assembly and a vehicle-mounted track-changing device; the vehicle-mounted guide device is arranged on the upper part of the PRT trolley; the vehicle-mounted guide device comprises: a guide mechanism and a conduction mechanism; the guide mechanism comprises: a guide rail, a slider assembly and a slider bracket; the guide rail is arranged above the road. The vehicle-mounted guide track-changing device and control method for a PRT personal rapid transportation system of the present invention adopts a main road and an auxiliary road in parallel, the main road is mainly used for a simulated train group, and the auxiliary road is mainly used for the PRT trolley to slow down, stop, change lanes and accelerate; an independent right of way is used to achieve a one-stop arrival service without stopping in the middle, and a fully enclosed, fully covered and fully interconnected rail network is used to achieve a fast, punctual and non-stop point-to-point operation purpose, which is the best solution to effectively solve the problem of urban traffic congestion.

Description

Technical Field

[0001] The present invention relates to the field of transportation technology, and in particular to a vehicle-mounted guide track-changing device for a PRT personal rapid transportation system and a manufacturing method thereof. Background Art

[0002] The PRT personal rapid transit system aims to solve the problem of urban traffic congestion. It uses small and lightweight vehicles and exclusive closed tracks to achieve point-to-point one-stop arrival services without stopping in the middle to meet personalized needs. In order to improve the transportation capacity of PRT vehicles, people have proposed a "simulated train" operation mode, that is, on the exclusive track, PRT vehicles are arranged at a very small interval (even zero spacing) to form a "virtual train" to maximize the density of vehicles on the road and improve the transportation capacity per unit time. The PRT vehicles in the "virtual train" adopt information sharing and synchronous operation to achieve the goal of small vehicles with large transportation capacity.

[0003] If we want to completely change the problem of urban traffic congestion, this is not enough. We also need to solve the problem of "rail network", that is, connect all the tracks in the city to form a "rail network". The "rail network" will cover every corner of the city. Only then can the PRT car use the fully enclosed, fully covered and fully interconnected way of the "rail network" to achieve fast, punctual and non-stop point-to-point one-stop transportation goals.

[0004] Although the "virtual train" and "track network" operation modes can solve the current situation of urban road congestion, they also bring new problems. Because the PRT cars in the "virtual train" group are very close to each other during driving, when the PRT cars in the train group need to merge / exit, the PRT cars need to be separated from the train group or joined to the "virtual train" group from the fork, and all of these must be done without the "virtual train" group slowing down. This puts forward new requirements for the track changing mechanism of the PRT car. The traditional track changing mechanism can no longer meet the high-frequency track changing needs. For this reason, people have designed intelligent track changing systems and on-board mechanical track changing systems.

[0005] The PRT intelligent track change system uses a large number of high-precision and cutting-edge sensors and a matching on-board intelligent perception system. Due to the use of a large number of advanced technical equipment, the construction cost is high and the reliability of many key equipment has yet to be verified. Therefore, it lacks market competitiveness and is currently difficult to promote.

[0006] The PRT on-board mechanical track change system is based on the grafting, transplantation, secondary innovation and integration of high technologies. There are no insurmountable technical barriers. It requires little investment, is cost-effective and easy to implement, and is therefore widely adopted by designers.

[0007] Currently, many schemes of on-board mechanical track-changing devices have been made public. It is not difficult to find from the public schemes that they only change the type, position, shape, etc. of the mechanism between the guide wheels and the guide rails of the PRT vehicle. However, due to the limitations of their basic technical principles or design structures, the public schemes have not yet achieved sufficient safety and reliability, and are therefore difficult to be widely used in practice, hindering the development of the PRT personal rapid transportation system. Summary of the invention

[0008] In view of the deficiencies in the above-mentioned prior art, the present invention provides a PRT personal rapid transportation system on-board guide track changing device and manufacturing method, which utilizes a fully enclosed, fully covered and fully interconnected manner of a rail network to achieve fast, punctual and non-stop point-to-point operation goals, and effectively solves urban traffic congestion.

[0009] The technical solution adopted by the present invention is:

[0010] A vehicle-mounted guide and track-changing device for a PRT personal rapid transportation system, comprising: a PRT trolley, a support, a vehicle-mounted guide device, a direction-changing component and a vehicle-mounted track-changing device;

[0011] The vehicle-mounted guide device is arranged on the upper part of the PRT trolley;

[0012] The vehicle-mounted guiding device comprises: a guiding mechanism and a conducting mechanism;

[0013] The guide mechanism includes: a guide rail, a slider assembly and a slider bracket;

[0014] The guide rail is arranged above the road and extends along the length direction of the road. The guide rail changes with the curvature of the road and remains parallel to the road surface.

[0015] The guide rails are arranged above the main road and the auxiliary road except the track change section;

[0016] The guide rail adopts an "I" steel structure, and the two sides of the web of the "I" steel are arc-shaped to form a slide groove;

[0017] The guide slide blocks are symmetrically mounted on the slide grooves on both sides of the web;

[0018] A ball or roller is arranged at the abutment between the guide slider and the slide groove, and the ball or roller is adapted to the guide slide groove and can roll along the direction thereof;

[0019] The slide rails can be connected and used as one pole of the power supply wire.

[0020] The slider assembly includes: a guide slider; the guide slider corresponds to the guide rail, the two form a sliding pair, and the slider assembly is arranged below the guide rail;

[0021] The guide slider is set in the center of the slider assembly, mainly guiding the PRT trolley traveling on the section other than the turnout track change section;

[0022] The guide slider is mounted on the guide rail and can only slide along the length of the guide rail; it is relatively stationary in other directions;

[0023] In order to reduce the friction between the sliding pairs, balls or rollers can be arranged on the guide slider at the abutment between the guide block and the guide rail;

[0024] The guide rail is fixed and suspended above the road surface except the turnout track change section through columns and brackets, and remains parallel to the road surface. The guide rail extends along the length of the road and changes with the curvature of the road, and maintains an appropriate height distance from the road surface to facilitate the operation of the PRT trolley in between.

[0025] Preferably, the guide slider comprises: a housing, a large ball, a small ball, a ball rack and an elastic member;

[0026] A groove is opened in the middle of the shell, and at least two large balls are symmetrically embedded on both sides of the upper part of the groove opening. The lower part of the large balls is embedded in the bottom of the groove. The groove gradually expands into a trumpet shape and is adapted to the lower flange of the guide rail.

[0027] More than half of the volume of the large ball is enclosed by the shell to prevent it from falling out of the shell. At least one third of the large ball protrudes out of the shell and can rotate flexibly in the shell.

[0028] The large ball may be a hollow body;

[0029] Preferably, the symmetrically arranged large balls have the same specifications. To reduce friction resistance, a plurality of small balls are distributed inside the housing at the contact point with the large balls, and the small balls can be installed through a ball rack;

[0030] In order to match the large ball, the ball rack can be designed into a bowl shape, and the small ball can be embedded in the bowl-shaped ball rack and can roll flexibly between the ball rack and the large ball;

[0031] The outer circle of the large ball is matched with the slide groove, and a gap matched with the slide groove is left between the large balls which are opposite to each other.

[0032] In order to adapt to the uncertainty of the sliding groove in the matching scale, a telescopic space is left between the opposing large balls, and the ball rack and the cavity are correspondingly designed as a sliding pair, that is, the large ball together with the ball rack can slide left and right in the cavity, and the cavity, the large ball and the ball rack are adapted;

[0033] An elastic member is also provided between the inner side of the housing and the ball cage, and the elastic member must maintain a reliable contact force between the large ball and the slide groove to ensure that the slider assembly will not easily fall off the slide groove.

[0034] Preferably, the slider bracket is used to install each slider assembly;

[0035] The slider bracket includes: a left shaft, a right shaft, a connecting rod 1, a connecting rod 2, a connecting rod 3, a driving member 1, a driving member 2 and a mounting seat;

[0036] The guide slider is fixed at the center of the slider bracket via a connecting rod;

[0037] A left shaft and a right shaft are symmetrically fixed on both sides of the connecting rod three;

[0038] The left shaft and the right shaft are provided with a driving member 1 and a driving member 2 respectively, and the driving member 1 and the driving member 2 are controlled by the operation instruction of the PRT trolley;

[0039] The first driving member converts the left slider from the static position to the track changing position, and the second driving member converts the right slider from the static position to the track changing position. The two driving members are interlocked with each other and cannot act at the same time.

[0040] The mounting seat is fixedly arranged below the connecting rod three and is fixedly connected to the upper end of the guide lever.

[0041] Preferably, the transmission mechanism is arranged on the roof of the PRT trolley, and includes: a guide lever assembly, a direction-changing assembly, a vertical guide rod and a bogie;

[0042] The guide lever assembly includes: a guide lever and a lifting spring component;

[0043] The guide lever is mainly used to transmit the change information on the guide rail to the vertical guide lever through the direction-changing component. The vertical guide lever then transmits this information to the bogie of the PRT trolley. The bogie automatically adjusts the forward direction of the PRT trolley to converge with the road condition information transmitted by the guide lever. In order to increase the turning flexibility of the PRT trolley, its rear wheel can also be set in the form of a bogie, and can be reversely linked with the front wheel bogie;

[0044] Another function of the guide lever is to absorb the interfering torque from the PRT trolley;

[0045] The guide lever is set on the top of the PRT trolley in a swept manner, with its upper end fixed to the slider assembly and its lower end hinged to the upper side of the direction-changing assembly; and it can rotate around the lever shaft;

[0046] When the PRT car generates interfering torque such as up and down bumps or front and back shakes, the guide lever can offset it by rotating around the lever axis;

[0047] The lifting spring components include: springs and buffers;

[0048] The spring component is arranged at an appropriate position below the guide lever, the upper end of which is hinged to the guide lever via a spring seat, and the lower end of which is hinged to the top of the PRT trolley via a lower spring seat.

[0049] The spring applies an upward torque to the guide lever to ensure reliable contact between the guide slider and the upper flange of the slideway. This torque should be greater than the total mass of the slider assembly and the guide lever.

[0050] The buffer is designed to absorb the free oscillation of the spring and can be set in the center of the spring. An oil or air damper can be used.

[0051] Preferably, the PRT trolley inevitably shakes to the left during driving. In order to prevent the influence of this phenomenon on the system, a direction-changing component is also provided;

[0052] The direction-changing assembly includes: a ball seat, a ball joint and a coupling;

[0053] The ball seat is fixed at an appropriate position on the top of the PRT trolley; the ball seat is a cavity structure, the ball joint is installed in the ball seat, the inner circle of the ball seat is adapted to the outer circle of the ball joint, and the two form a sliding pair; the ball seat wraps the ball joint so that it cannot fall out of it, and the ball joint can slide limitedly in four dimensional directions in the ball seat;

[0054] The driving shaft of the coupling is fixedly connected at the lower end of the ball joint. The coupling can also be a universal joint. A bearing is mounted on the driven shaft of the coupling. The outer circle of the bearing is embedded in the bearing seat in the cavity. The driven shaft can only rotate axially.

[0055] When the PRT trolley generates a disturbing torque that shakes left and right, the ball joint slides in the ball seat in the opposite direction of the disturbing torque, and then drives the driving shaft of the coupling to swing in the ball seat in the opposite direction of the disturbing torque. After the swing is absorbed by the coupling, the disturbing torque generated by the shaking can be offset.

[0056] By utilizing the combined effectiveness of the direction-changing assembly and the guide lever assembly, various interfering torques generated on the PRT trolley can be effectively offset, ensuring that the contact between each slide rail and the slider is not affected.

[0057] The steering component transfers the steering torque from the guide lever to the vertical guide rod;

[0058] The direction-changing assembly adopts a guide rod transmission method, including: guide rod one, guide rod two, guide rod three and a guide rod shaft;

[0059] One end of the guide rod 1 is fixedly connected to the lower end of the driven shaft of the coupling, and the other end is hinged to the guide rod 2. The other end of the guide rod 2 is hinged to the guide rod 3. The other end of the guide rod 3 is fixedly connected to the upper end of the vertical guide rod. The guide rods 1, 2 and 3 can be arranged on the same plane, and the three are in a "C" shape, and are all hinged through the guide rod shaft.

[0060] The vertical guide rod is used to change the direction of the guide torque and transmit it to the front bogie. Its upper end is fixedly connected to one end of the guide rod 3, and its lower end is connected to the front bogie.

[0061] The bogie is used to transmit the guiding torque to the steering wheels to achieve autonomous control of the driving direction of the PRT vehicle.

[0062] PRT vehicles are arranged on the road. An on-vehicle guiding mechanism is provided on the PRT vehicle. The lower end of the on-vehicle guiding mechanism is connected to the bogie of the PRT vehicle via a vertical guide rod, and the upper end is fixedly connected to the lower end of the guiding lever assembly. The upper end of the guiding lever assembly is fixedly connected to the lower end of the slider assembly;

[0063] During the stage when the PRT vehicle is driving on the main road, only the guiding slider abuts against the guiding slide rail;

[0064] When the PRT vehicle moves forward along the road driven by the driving device, it drives the guiding lever assembly to move, and then drags the guiding slider to slide along the length direction of the guiding slide rail;

[0065] Since the bending change of the guiding slide rail tends to be synchronized with that of the road, the bending change of the guiding slide rail in the stretching direction represents the bending change of the road surface in the same direction. When the PRT vehicle drags the guiding slider to move forward along the stretching direction of the guiding slide rail, the change information on the guiding slide rail is transmitted to the bogie of the vehicle through the guiding lever assembly, and the bogie autonomously adjusts the driving direction of the PRT vehicle to converge with it;

[0066] For the convenience of installation, the vertical guide rod can be in the form of a universal joint or a coupling. The vertical guide rod converts the torque transmitted by the steering component and then transmits it to the bogie;

[0067] The bogie adds the steering torque transmitted by the vertical guide rod to the front steering wheels, and finally realizes the autonomous guiding function of the PRT vehicle. To reduce the turning radius, the rear wheels of the PRT vehicle can be designed in the form of a bogie and can be reversely linked with the front bogie.

[0068] Preferably, the support member includes: a column and a truss;

[0069] The column and the truss can be made of steel structure or reinforced concrete and are used to fix and suspend each slide rail frame. The slide rail frame is arranged above the column and can be in the shape of "F" or "冂". The "F" shape is mainly arranged on the straight section of the road, and the "冂" shape is a strengthened bracket and is mainly arranged at the road intersection or the bend.

[0070] Since the PRT cars adopt a unidirectional operation mode on a dedicated lane, the roads on which the PRT cars operate are divided into main roads and secondary roads. The main roads are mainly for the "virtual train" composed of PRT cars, and the secondary roads are mainly for the PRT cars to merge into / out of the "virtual train" group. That is, the PRT cars in the "virtual train" need to merge into the secondary roads at the intersection, and need to merge into the "virtual train" group from the secondary roads. The merge-in / merge must be carried out when the "virtual train" is running at a constant speed, so rapid track change has become a key link in the PRT personal rapid transit system.

[0071] Preferably, the vehicle-mounted track-changing device comprises: a track-changing slide rail and a track-changing slider;

[0072] Also included are components that are shared with vehicle-mounted guide devices;

[0073] The track-changing slide rails include: left slide rail, right slide rail and transition slide rail;

[0074] The track change slide rail is arranged above the road in the turnout area;

[0075] The main turnouts and the auxiliary turnouts are connected to each other, and transition rails are provided between the main turnouts.

[0076] The track change slide rail also includes a guide slide rail. In a certain section before and after the track change section of the turnout, the guide slide rail, the left slide rail, and the right slide rail are arranged together above the road;

[0077] The left and right rails are arranged on the left and right sides of the guide rails. Except for the rail change section, the three rails are kept parallel on the horizontal plane and the distance between them is fixed;

[0078] The left slide rail and the left slider form a left slide pair, and the right slide rail and the right slider form a right slide pair.

[0079] The slider assembly also includes: a track-changing slider and a slider bracket;

[0080] The track-changing slider includes: a left slider and a right slider;

[0081] The left slider and the right slider are arranged on the left and right sides of the guide slider, and form sliding pairs with the corresponding slide rails respectively;

[0082] The slider bracket is used to install each slider and its components, and the slider bracket includes: a left shaft, a right shaft, a driving member 1, a driving member 2, a connecting rod 1, a connecting rod 2, a connecting rod 3 and a mounting seat;

[0083] The guide slider, the left slider and the right slider are all of the same model, and the guide slider is fixed at the center of the upper end of the slider bracket through a connecting rod;

[0084] On both sides of the third connecting rod, a left shaft and a right shaft are symmetrically fixed. A first driving member and a second driving member are respectively arranged on the left shaft and the right shaft. The first driving member and the second driving member are respectively hinged with a first connecting rod and a second connecting rod. The other ends of the first connecting rod and the second connecting rod are respectively fixed with a left slider and a right slider.

[0085] The first driving member drives the first connecting rod to rotate around the left shaft, and then drives the left slider to rotate around the left shaft; the second driving member drives the corresponding second connecting rod to rotate around the right shaft, and then drives the corresponding right slider to rotate around the right shaft;

[0086] When the left slider is in the working state, its height is flush with the guiding slider and the distance between them is fixed. The right slider is in the drooping state. When the right slider is in the working state, its height is flush with the guiding slider and the distance between them is fixed. The left slider is in the drooping state;

[0087] When both of them are in the non - working state, they are both in the drooping state. At this time, the guiding slider, the left slider and the right slider are distributed in a "pin" shape in the vertical plane.

[0088] The variable - track slide rail includes: a pre - variable - track section, a variable - track section and a variable - track termination section;

[0089] For the convenience of track changing, the transition slide rail can be designed into a "T" - shaped structure, that is, the lower flange of the "I" - shaped slide rail is removed, and the two are smoothly transitioned at the track - changing point. The transition slide rail is only arranged between the main road turnouts and can be not arranged between the branch road turnouts;

[0090] The pre - variable - track section is within a certain section in front of the road intersection. The guiding slide rail, the left slide rail and the right slide rail are jointly arranged above the road. Except for the variable - track section, the three are parallel to each other in the horizontal plane and the distance between them is fixed. In terms of length, the three must have an overlapping section with a certain distance. In the pre - variable - track section, the three can be fixed on the same truss. To increase the support strength, two support columns can be distributed at both ends of the truss.

[0091] A control method for the vehicle - mounted guiding and variable - track device of a PRT personal rapid transit system. When the PRT vehicle runs to the front of the turnout, there are three changes in the forward direction: going straight, turning left for track change or turning right for track change;

[0092] When the PRT vehicle does not need to change tracks, the vehicle - mounted track - changing device does not act. At this time, only the guiding slider abuts against the transition slide rail in the track - changing section, and other sliders are all in a static state. The PRT vehicle quickly goes straight through the turnout section under the guidance of the transition slide rail;

[0093] When the left - moving vehicle needs to change tracks to the left for direction change, the left slider is driven by the first driving member to a specified position in front of the pre - variable - track section. At this moment, the left slider is flush with the guiding slider and the distance between them is fixed, preparing for the left - moving vehicle to change tracks to the left for direction change in the next step;

[0094] When the right-moving trolley needs to change track to the right, the right slider is driven by the driving component 2 to the specified position before the pre-track change section. At this moment, the right slider and the guide slider are kept flush and the distance between them is fixed, so as to prepare for the next step of the right-moving trolley changing track to the left.

[0095] When it is necessary to change tracks, the track change command must be issued before the PRT trolley reaches the pre-track change section, so that the track change slider moves into place in advance. The PRT trolley moves forward from the pre-track change section to the track change point. At this moment, the guide slider is forced to leave the transition slide and loses its guiding ability. If the PRT trolley executes the left track change reversing command, the left slide rail and the left slider form a left sliding pair that abuts against each other, controlling it to change tracks to the left auxiliary road; if the PRT trolley executes the right track change reversing command, the right slide rail and the right slider form a right sliding pair that abuts against each other, controlling it to change tracks to the right auxiliary road. The left slider and the right slider are interlocked with each other and cannot move at the same time.

[0096] In order to facilitate the smooth introduction of each slider into the corresponding slide rail, the introduction and export ends of each slide rail can be designed into a wedge-shaped trumpet shape;

[0097] At the track change point, the left and right rails gradually bend downward from a horizontal state, and the minimum downward bending amplitude should be greater than the height of the rails;

[0098] The left slider or the right slider runs along the curved downward track of the left or right slide rail under the restriction of the slide groove, thereby forming a downward pressure, which will force the guide slider to disengage from the transition slide rail. Since the transition slide rail is a T-shaped structure, its lower part does not hinder the downward movement of the guide slider. Under the action of the downward pressure, the guide slider overcomes the elastic force of the spring on the PRT trolley and disengages from the transition slide rail.

[0099] After the guide slide block is separated from the transition slide rail, the PRT trolley is controlled by the left sliding pair or the right sliding pair, so that the PRT trolley turns from the main road to the left auxiliary road or the right auxiliary road;

[0100] The left and right rails after the track change point are arranged in an arc shape in the horizontal direction, and the arc is consistent with the turning radius of the left and right auxiliary roads to guide the PRT trolley to turn smoothly;

[0101] After the track change, the left and right slide rails will quickly climb from the lowest end of the curved downward path to a position flush with the guide slide rails on the left and right auxiliary sections, and the left or right slide block will also quickly return from the lowest end of the track change slide rail to a position flush with the guide slide rails on the auxiliary section.

[0102] After the PRT trolley exits the fork in the road, it will travel along the corresponding left auxiliary road or right auxiliary road. At this time, the left slide rail or the right slide rail must retain a certain distance of overlapping section with the guide slide rail set above the auxiliary road. The slide rails are parallel and the distance between each other is fixed on the horizontal plane where the overlapping section is located to ensure that the guide slider is re-introduced onto the guide slide rail of the auxiliary road. The left slide rail or the right slide rail acts on the PRT trolley with the guide slide rail on the left auxiliary road or the right auxiliary road respectively until the left slide rail or the right slide rail terminates. The PRT trolley is then controlled solely by the guide sliding pair, and the track change and direction reversing are completed.

[0103] The three stages transition smoothly, completing a rapid track change and direction change process.

[0104] There are symmetrical road islands in the middle of the turnout, on which support devices can be installed;

[0105] Preferably, when the PRT trolley is moving straight, the left slider and the right slider are both in a drooping static state, and the drooping amplitude is greater than the maximum amplitude of the downward bending of the track change slide rail. Therefore, when the PRT trolley is moving straight through the intersection, the track change slide rail will not contact the corresponding slide rail, and will not affect the operation of the PRT trolley moving straight;

[0106] When the PRT car merges into the main road from the auxiliary road intersection, that is, the PRT car merges into the virtual train set at the turnout, its track change and direction switching process is similar to the above process. As far as the main turnout is concerned, the difference between the track change and direction switching at the auxiliary turnout is that the working order of the pre-track change section and the track change terminal section is reversed;

[0107] When the rapid track change process is completed, the track change slider returns to the static state from the working state under the control of the operating instruction, waiting for the next track change instruction.

[0108] The beneficial effects of the present invention compared with the prior art are as follows:

[0109] The PRT personal rapid transportation system vehicle-mounted guide track-changing device and control method of the present invention is a large-capacity PRT personal rapid transportation system, which adopts small and lightweight vehicles, and each vehicle is limited to 2 to 6 people. Therefore, the roads matched therewith, whether they are located in the air or on the ground, do not require much load-bearing weight and redundant width, and are also lightweight, so the construction and maintenance costs are relatively low.

[0110] The vehicle-mounted guide track-changing device and control method of the PRT personal rapid transportation system of the present invention adopts a simulated train operation mode to maximize the driving density of small vehicles on the road and improve the transportation capacity per unit time; and adopts information sharing and synchronous operation to achieve the goal of small vehicles with large transportation capacity.

[0111] The on-board guide track-changing device and control method of the PRT personal rapid transportation system of the present invention adopts a main road and an auxiliary road in parallel. The main road is mainly used for the simulated train group, and the auxiliary road is mainly used for the PRT car to slow down, stop, change lanes and accelerate. By using an independent right of way, a one-stop arrival service without stopping in the middle is realized to meet personalized needs.

[0112] The on-board guide track-changing device and control method of the PRT personal rapid transportation system of the present invention utilizes the fully enclosed, fully covered, and fully interconnected mode of the track network to achieve the purpose of rapid, punctual, and non-stop point-to-point operation, and is the best solution to effectively solve the problem of urban traffic congestion. BRIEF DESCRIPTION OF THE DRAWINGS

[0113] Figure 1 It is a side view schematic diagram of the PRT trolley and the on-board guide track change device on the main road.

[0114] Figure 2 It is a top-down schematic diagram of the distribution of the slide rails at the fork and the PRT trolley going straight or changing tracks to the left or right.

[0115] Figure 3 It is a top view schematic diagram of the vehicle-mounted transmission mechanism;

[0116] Figure 4 yes Figure 3 A schematic diagram of a partial cross-sectional side view of the direction-changing assembly and the lifting spring assembly at A;

[0117] Figure 5 is a side view schematic diagram of the spatial distribution state of the guide rail and the left rail in the turnout section;

[0118] Figure 6 yes Figure 5 B is a top view of the working state of the guide sliding pair and the left sliding pair in the pre-track change section;

[0119] Figure 7 yes Figure 5 Schematic diagram of the working state of the track change section guide slider and the left slider;

[0120] Figure 8 yes Figure 5 A top view schematic diagram of the working state of the right sliding pair in the track change section at C;

[0121] Fig. 9 is a side view schematic diagram of the spatial distribution state of the guide rail and the right rail in the turnout section;

[0122] Fig.10 yes Fig. 9 A top view schematic diagram of the working state of the right sliding pair of the track change section at D;

[0123] Fig.11 yes Fig. 9Schematic diagram of the working state of the track change section guide slider and the right slider;

[0124] Fig.12 yes Fig. 9 A top view schematic diagram of the working state of the guide sliding pair and the right sliding pair in the track change terminal section at E;

[0125] Fig.13 is a schematic diagram of the distribution of the guide slider, the left slider and the right slider on the slider bracket in a static state;

[0126] Fig.14 It is a partial cross-sectional view and a top view of the slider;

[0127] Fig.15 is a schematic cross-sectional view of a guide rail and a guide slider;

[0128] Fig.16 It is a schematic diagram of the cross section of the transition slide rail and the guide slider.

[0129] Description of the main components in the attached drawings:

[0130] In the figure:

[0131] 101, guide rail; 102, slider assembly; 103, guide lever; 104, lifting spring assembly; 105, direction-changing assembly; 106, guide rod assembly; 107, vertical guide rod; 108, column; 109, support frame;

[0132] 110, front steering wheel; 111, bogie; 112, PRT trolley; 113, rear wheel; 114, main road;

[0133] 201, left slide rail; 202, right slide rail; 203, left auxiliary road; 204, right auxiliary road;

[0134] 205, left-moving car; 206, right-moving car; 207, transition rail; 208, road island;

[0135] 301, left slider; 302, guide slider;

[0136] 303, right slider; 304, guide rod 2;

[0137] 305, guide rod 1; 306, guide rod shaft; 307, guide rod 3; 308, ball joint;

[0138] 309, lever shaft; 310, ball seat; 311, coupling driving shaft;

[0139] 312, driven shaft of coupling; 313, bearing; 314, lower spring seat; 315, coupling;

[0140] 316, spring; 317, buffer; 318, upper spring seat; 319, right shaft; 320, left shaft;

[0141] 401, pre-track change section; 402, track change point; 403, track change section; 404, track change termination section;

[0142] 501, large ball; 502, groove; 503, connecting rod 1;

[0143] 504, driving member 1; 505, connecting rod 2; 506, mounting seat; 507, housing;

[0144] 508, ball rack; 509, small ball; 510, elastic member; 511, cavity;

[0145] 512, driving member 2;

[0146] 513, connecting rod three; 514, slider bracket. DETAILED DESCRIPTION

[0147] The present invention is described in detail below with reference to the accompanying drawings and embodiments:

[0148] Attached Figure 1-16 It can be seen that the vehicle-mounted guide track changing device and control method of the PRT personal rapid transportation system of the present invention firstly realizes the autonomous guide function of the PRT trolley 112, that is, the vehicle-mounted guide device is arranged on the upper part of the PRT trolley 112, including: a guide mechanism and a conduction mechanism;

[0149] The guide mechanism includes: a guide rail 101, a slider assembly 102 and a support member;

[0150] The guide rail 101 is arranged above the road and extends along the length direction of the road. The guide rail 101 changes with the curvature of the road and remains parallel to the road surface. The guide rail 101 is arranged above the main road 114 and the left auxiliary road 203 and the right auxiliary road 204 except the track change section 403.

[0151] The guide rail 101 adopts an "I"-shaped steel structure. The two sides of the web of the "I"-shaped steel are arc-shaped to form a slide groove 601. The guide sliders 302 are symmetrically mounted on the slide grooves 601 on both sides of the web. Balls or rollers are arranged at the abutment between the guide sliders 302 and the slide grooves 601. The balls or rollers are adapted to the guide slide grooves 601 and can roll along the direction thereof. In other directions, the two remain relatively stationary.

[0152] All the slide rails can be fixedly suspended at a suitable spatial position above the road through a support member composed of a column 108 and a bracket 109.

[0153] Each slide rail can be connected together and used as one pole of the power supply conductor;

[0154] The slider assembly 102 includes: a guiding slider 302.

[0155] The guiding slider 302 corresponds to the guiding slide rail 101, and the two form a sliding pair. The slider assembly 102 is arranged below the guiding slide rail 101.

[0156] The guiding slider 302 is fixedly arranged at the center of the slider assembly 102, and mainly guides the PRT vehicle 112 traveling on the road sections other than the turnout rail-changing section 403.

[0157] In the turnout section, when the PRT vehicle 112 needs to go straight through, the on-vehicle rail-changing device does not act, and the guiding slide rail 101 and the transition slide rail 207 are smoothly butted at the corresponding position of the rail-changing point 402. Therefore, within the turnout rail-changing section 403, the PRT vehicle can pass smoothly under the guidance of the transition slide rail 207.

[0158] The guiding slider 302 is clamped on both side parts of the transition slide rail 207. Although the transition slide rail 207 has a "T" - shaped structure and its lower end does not obstruct the downward movement of the guiding slider 302, due to the elastic force of the lifting spring assembly 105 being greater than the sum of the weights of the slider assembly 102 and the guiding lever 104, the guiding slider 302 will not easily fall off the transition slide rail 207.

[0159] The guiding slider 302 is clamped on the guiding slide rail 101 and can only move along the length direction of the guiding slide rail 101, and is relatively stationary in other directions.

[0160] To reduce the friction between the sliding pair, at the contact position between the guiding slider 302 and the guiding slide rail 101, balls or rollers can be correspondingly arranged on the guiding slider 302.

[0161] The guiding slider 302 includes: a housing 507, large balls 501, small balls 509, a ball holder 508 and an elastic member 510.

[0162] A groove 502 is opened in the middle of the housing 507. At both sides of the part above the opening of the groove 502, at least two large balls 501 are symmetrically embedded. From the large balls 501 down to the bottom of the groove, it gradually expands into a flared shape and is adapted to the lower flange of the guiding slide rail 101.

[0163] More than half of the volume of the large balls 501 is wrapped by the housing 507 to keep them from falling out of the housing 507. At least one - third of the large balls 501 protrude outside the housing 507 and can rotate flexibly in the housing 507. The large balls 501 are hollow bodies.

[0164] The large balls 501 symmetrically arranged on both sides have the same specifications. In order to reduce friction resistance, a plurality of small balls 509 are distributed at the contact point between the large balls 501 and the inside of the shell 507. The small balls 509 can be installed through the ball rack 508.

[0165] In order to match with the large ball 501 , the ball rack 508 can be designed to be bowl-shaped accordingly. The small ball 509 can be embedded in the bowl-shaped ball rack 508 and can roll flexibly between the ball rack 508 and the large ball 501 .

[0166] The outer circle of the large ball 501 is matched with the slide groove 601 , and a gap matched with the slide groove 601 is left between the large balls 501 that are opposite to each other.

[0167] In order to adapt to the uncertainty changes in the matching scale of the slide groove 601, a telescopic space can be left between the opposing large balls 501, and the ball rack 508 and the cavity 511 can be designed to be a sliding pair, that is, the large ball 501 together with the ball rack 508 can slide left and right in the cavity 511, and the cavity 511 and the large ball 501 and the ball rack 508 are adapted.

[0168] An elastic member 510 is further provided between the inner side of the housing 507 and the ball holder 508 . The elastic member 510 is required to maintain a reliable contact force between the large ball 501 and the slide groove 601 to ensure that the slider assembly 102 will not fall off from the slide groove 601 easily.

[0169] The slider bracket 514 is used to install each slider assembly, including: the left shaft 320, the right shaft 319, the connecting rod 1 503, the connecting rod 2 505, the connecting rod 3 513, the driving member 1 504, the driving member 2 512 and the mounting seat 506.

[0170] The driving component 1 504 and the driving component 2 512 are driving motors.

[0171] The guide slider 302 is fixed at the center of the slider bracket 514 via the third connecting rod 503 , and the left shaft 320 and the right shaft 319 are symmetrically fixed on both sides of the third connecting rod 513 .

[0172] The left shaft 320 and the right shaft 319 are correspondingly provided with a driving member 1 504 and a driving member 2 512. The driving member 1 504 and the driving member 2 512 are controlled by the operation instruction of the PRT trolley 112, and can transform the left slider 301 from a static position to a track-changing position, and can also transform the right slider 303 from a static position to a track-changing position. The two driving members are interlocked with each other and cannot act at the same time.

[0173] The mounting seat 506 can be fixedly disposed below the third link rod 513 and fixedly connected to the upper end of the guide lever 103 .

[0174] The transmission mechanism is arranged at an appropriate position on the roof of the PRT trolley 112 , and includes: a guide lever assembly, a direction-changing assembly 105 , a vertical guide rod 117 and a bogie 111 .

[0175] The guide lever assembly includes: a guide lever 103 and a lifting spring component 104;

[0176] The guide lever 103 is mainly used to transmit the change information on the guide slide rail 101 in the future to the vertical guide rod 107 via the change-of-direction assembly 105, and the vertical guide rod 107 then transmits this information to the front bogie 111 of the PRT car. The front bogie 111 automatically adjusts the forward direction of the PRT car 112 to converge with the road condition information transmitted by the guide lever 103. In order to increase the turning flexibility of the PRT car 112, its rear wheel 113 can also be set in the form of a bogie, and can be reversely linked with the front wheel 110 and the bogie 111.

[0177] Another function of the guide lever 103 is to absorb the interfering torque from the PRT trolley 112;

[0178] The guide lever 103 is set at an appropriate position on the top of the PRT trolley 112 in a swept manner, with its upper end fixedly connected to the slider assembly 102, and its lower end hinged to the upper side of the change-of-direction assembly 105, and can rotate around the lever shaft 309.

[0179] When the PRT trolley 112 generates an interfering torque such as up and down bumping or shaking back and forth, the guide lever 103 can offset it by rotating around the lever shaft 309 .

[0180] The lifting spring component 104 includes: a spring 316 and a buffer 317;

[0181] The lifting spring component 104 is arranged at an appropriate position below the guide lever 103 , with its upper end hinged to the middle part of the guide lever 103 via an upper spring seat 318 , and its lower end hinged to the top of the PRT trolley 112 via a lower spring seat 314 .

[0182] The spring 316 applies an upward torque to the guide lever 103 to ensure that the guide slider 302 is reliably in contact with the upper flange of the slide groove 601 . This torque should be greater than the total mass of the slider assembly 102 and the guide lever 103 .

[0183] The buffer 317 is provided to absorb the free oscillation of the spring 316. The buffer 317 can be disposed at the center of the spring 316 and can be an oil or air damper.

[0184] The trolley 112 inevitably sways left and right during driving. In order to prevent the influence of this phenomenon on the system, a direction-changing component 105 is also provided.

[0185] The direction changing assembly 105 includes: a ball seat 310, a ball joint 308, and a coupling 315;

[0186] The ball seat 310 is fixed at a proper position on the top of the PRT trolley 112. The ball seat 310 is a cavity structure. The ball joint 308 is installed in the ball seat 310. The inner circle of the ball seat 310 is adapted to the outer circle of the ball joint 308. The two form a sliding pair. The ball seat 310 wraps the ball joint 308 so that it cannot fall out. The ball joint 308 can slide in the four dimensional directions within the ball seat 310 to a limited extent.

[0187] The driving shaft 311 of the coupling 315 is fixedly connected to the lower end of the ball joint 308. The coupling 315 can also be a universal joint. The driven shaft 312 of the coupling 315 is fitted with a bearing 313. The outer circle of the bearing 313 is embedded in the bearing seat in the cavity. The driven shaft 312 can only rotate axially.

[0188] When the PRT trolley 112 generates a disturbing torque that shakes left and right, the ball joint 308 slides in the ball seat 310 in the direction opposite to the disturbing torque, and then drives the driving shaft 311 of the coupling 315 to swing in the ball seat 310 in the direction opposite to the disturbing torque. After the swing is absorbed by the coupling 315, the disturbing torque generated by the shaking can be offset.

[0189] By utilizing the combined performance of the direction-changing assembly 105 and the guide lever assembly, various interfering torques generated on the PRT trolley 112 can be effectively offset, ensuring that the contact between each slide rail and the slider is not affected.

[0190] The direction-changing assembly 105 transmits the steering torque from the guide lever 103 to the vertical guide rod 107;

[0191] The direction-changing assembly 105 adopts a guide rod transmission method, including: a guide rod 1 305, a guide rod 2 304, a guide rod 3 307 and a guide rod shaft 306;

[0192] One end of guide rod 1 305 is fixedly connected to the lower end of the coupling driven shaft 312, and the other end is hinged to guide rod 2 304. The other end of guide rod 2 304 is hinged to guide rod 3 307. The other end of guide rod 307 is fixedly connected to the upper end of the vertical guide rod 107. Guide rod 1 305, guide rod 2 304 and guide rod 3 307 can be arranged on the same plane. The three are in a "C" shape and are all hinged via the guide rod shaft 306.

[0193] The vertical guide rod 107 is used to change the direction of the guide torque and transmit it to the front bogie 111. Its upper end is fixedly connected to one end of the guide rod 307, and the other end is connected to the front bogie 111.

[0194] The front bogie 111 is used to transmit the steering torque to the front steering wheel 110 to achieve autonomous control of the driving direction of the PRT trolley 112.

[0195] The PRT vehicle 112 is arranged on the road. An on-vehicle guiding mechanism is provided on the PRT vehicle 112. The lower end of the on-vehicle guiding mechanism is connected to the front bogie 111 of the PRT vehicle 112 via a vertical guide rod 117, and the upper end is fixedly connected to the lower end of the guiding lever assembly. The upper end of the guiding lever assembly is fixedly connected to the lower end of the slider assembly 102;

[0196] During the road driving stage of the PRT vehicle 112, only the guiding slider 302 abuts against the guiding slide rail 101;

[0197] The guiding slide rail 101 is fixedly suspended above the road except for the turnout rail-changing section 403 via the column 108 and the truss 109, and is parallel to the road surface. The guiding slide rail 302 extends along the length direction of the road, changes with the bending of the road, and maintains an appropriate height distance from the road surface to facilitate the operation of the PRT vehicle 112 therebetween;

[0198] When the PRT vehicle 112 travels forward along the road under the drive of the driving device, it drives the guiding lever assembly to move, and then drags the guiding slider 302 to slide along the length direction of the guiding slide rail 101.

[0199] Since the guiding slide rail 101 tends to be synchronized with the bending of the road, the bending change of the guiding slide rail 101 in the extending direction represents the bending change of the road surface in the same direction. When the PRT vehicle 112 drags the guiding slider 302 to move forward along the extending direction of the guiding slide rail 101, the change information on the guiding slide rail 101 is transmitted to the bogie 111 of the vehicle via the guiding lever assembly, and the bogie 111 autonomously adjusts the driving direction of the PRT vehicle 112 to converge with it.

[0200] For the convenience of installation, the vertical guide rod 107 can adopt the form of a universal joint or a coupling. The vertical guide rod 107 transmits the torque from the steering component 105 after reversing it to the front bogie 111;

[0201] The front bogie 111 adds the steering torque transmitted by the vertical guide rod 107 to the front steering wheel 110, and finally realizes the autonomous guiding function of the PRT vehicle 112. To reduce the turning radius, the rear wheels 113 of the PRT vehicle 112 can be designed in the form of a bogie and can be reversely linked with the front bogie 111.

[0202] The support members include: the column 108 and the truss 109;

[0203] The column 108 and the truss 109 can be made of steel structure or reinforced concrete and are used to fixedly suspend each slide rail. The truss 109 is arranged above the column 108, and its shape can be "F" or "冂". The "F" shape is mainly arranged on the straight section of the road, and the "冂" shape is a strengthened support and is mainly arranged at the road intersection or the bend.

[0204] Another purpose of a PRT personal rapid transportation system vehicle-mounted guide track change device is to quickly change tracks;

[0205] Since the PRT cars adopt a unidirectional operation mode on a dedicated lane, the roads on which the PRT cars operate are divided into main roads and secondary roads. The main roads are mainly for the "virtual train" composed of PRT cars, and the secondary roads are mainly for the PRT cars to merge into / out of the "virtual train" group. That is, the PRT cars in the "virtual train" need to merge into the secondary roads at the intersection, and need to merge into the "virtual train" group from the secondary roads. The merge-in / merge must be carried out when the "virtual train" is running at a constant speed, so rapid track change has become a key link in the PRT personal rapid transit system.

[0206] The vehicle-mounted track-changing device mainly includes: a track-changing slide rail and a track-changing slider, and also includes components shared with the vehicle-mounted guide device;

[0207] The track change rails include: a left rail 201, a right rail 202, and a transition rail 207;

[0208] The track change slide rail is arranged above the road in the turnout area, wherein the main turnouts and the auxiliary turnouts are connected to each other, and a transition slide rail 207 is also arranged between the main turnouts;

[0209] The track change slide rail further includes a guide slide rail 101. In a certain section before and after the track change section 403 at the turnout, the guide slide rail 101, the left slide rail 201, and the right slide rail 202 are arranged together above the road;

[0210] The left slide rail 201 and the right slide rail 202 are arranged on the left and right sides of the guide slide rail 101. Except for the track change section 403, the three slide rails are kept parallel on the horizontal plane and the distance between them is fixed.

[0211] The left slide rail 201 and the left slider 301 form a left slide pair, and the right slide rail 202 and the right slider 303 form a right slide pair.

[0212] The slider assembly also includes: a track-changing slider and a slider bracket 514;

[0213] The track-changing slider includes: a left slider 301 and a right slider 303;

[0214] 0169, the left slider 301 and the right slider 303 are arranged on the left and right sides of the guide slider 302, and form a sliding pair with the corresponding slide rails respectively;

[0215] Slider bracket 514: Used to install each slider and its components, including: left shaft 320, right shaft 319, first driving member 504, second driving member 512, first connecting rod 503, second connecting rod 505 and mounting seat 506.

[0216] The guiding slider 302, left slider 301 and right slider 303 are of the same model. The guiding slider 302 is fixedly arranged at the center of the upper end of the slider bracket 514 through the third connecting rod 513. The left shaft 320 and right shaft 319 are symmetrically and fixedly arranged on both sides of the third connecting rod 513. The first driving member 504 and second driving member 512 are respectively arranged on the left shaft 320 and right shaft 319. The first driving member 504 and second driving member 512 are correspondingly hinged with the first connecting rod 503 and second connecting rod 505. The other ends of the first connecting rod 503 and second connecting rod 505 are respectively fixedly connected to the left slider 301 and right slider 303.

[0217] The first driving member 504 drives the first connecting rod 503 to rotate around the left shaft 320, and then drives the left slider 301 to rotate around the left shaft 320; the second driving member 512 drives the corresponding second connecting rod 505 to rotate around the right shaft 319, and then drives the corresponding right slider 303 to rotate around the right shaft 319.

[0218] When the left slider 301 is in the working state, its height is flush with the guiding slider 302 and the distance between them is fixed. The right slider 303 is in the drooping state. When the right slider 303 is in the working state, as Fig. 9 shown at E in: its height is flush with the guiding slider 302 and the distance between them is fixed. The left slider 301 is in the drooping state.

[0219] When both are in the non-working state, they are both in the drooping state. At this time, the guiding slider 302, left slider 301 and right slider 303 are arranged in a "pin" shape in the vertical plane.

[0220] The variable track slide rail can be composed of three sections, namely the pre-variable track section 401, variable track section 402 and variable track termination section 404;

[0221] For convenient track change, the transition slide rail 207 can be designed into a "T" - shaped structure, that is, the lower flange of the "I" - shaped slide rail is removed, and the two are smoothly transitioned at the track change point 402. The transition slide rail 207 is only arranged between the turnouts of the main road 114 and may not be arranged between the turnouts of the branch road.

[0222] Pre - variable track section 401: That is, within a certain section in front of the road intersection, the guiding slide rail 101, left slide rail 201 and right slide rail 202 are jointly arranged above the road. Except for the variable track section 403, the three are parallel to each other in the horizontal plane and the distance between them is fixed. In terms of length, the three must maintain an overlapping section with a certain distance. In the pre - variable track section 403, the three can be fixedly arranged on the same truss 109. To increase the support strength, two support columns 108 can be distributed at both ends of the truss 109.

[0223] When the PRT car 112 runs to the fork, it will face three changes in the forward direction, namely, going straight, changing track to the left or changing track to the right.

[0224] When the PRT trolley 112 does not need to change tracks, the onboard track changing device does not operate. At this time, only the guide slider 302 is in contact with the transition slide rail 207 in the track changing section, and the other sliders are in a stationary state. Under the guidance of the transition slide rail 207, the PRT trolley 112 quickly goes straight through the switch section.

[0225] When the left-moving trolley 205 needs to change track to the left, the left slider 301 is driven by the driving member 1 504 to the specified position in front of the pre-track change section 401. At this moment, the left slider 301 and the guide slider 302 are kept flush and the distance between them is fixed, so as to prepare for the next step of the left-moving trolley 205 to change track to the left. When the right-moving trolley 206 needs to change track to the right, as shown in FIG. Fig. 9 As shown at E: the right slider 303 is driven to the specified position by the driving member 2 512 before the pre-track changing section 401. At this moment, the right slider 303 and the guide slider 302 remain flush and the distance between them is fixed, preparing for the next step of the right trolley 206 to change track and switch to the right.

[0226] Track change section 403: When track change is required, the track change command must be issued before the PRT trolley 112 reaches the pre-track change section 401, so that the track change slider moves into place in advance. The PRT trolley 112 moves from the pre-track change section 401 to the track change point 402. At this moment, the guide slider 302 is forced to disengage from the transition slide 207 and loses its guiding ability. If the PRT trolley 112 executes the left track change reversing command, the left slide rail 201 and the left slider 301 form a left sliding pair that abuts against each other, controlling it to change track to the left auxiliary road 203; if the PRT trolley 112 executes the right track change reversing command, the right slide rail 202 and the right slider 303 form a right sliding pair that abuts against each other, controlling it to change track to the right auxiliary road 204. The left slider 301 and the right slider 303 are interlocked with each other and cannot move at the same time.

[0227] In order to facilitate the smooth introduction of each slider onto the corresponding slide rail, the introduction and export ends of each slide rail can be designed to be wedge-shaped trumpet-shaped.

[0228] At the track change point 402, the left slide rail 201 and the right slide rail 202 gradually bend downward from a horizontal state, and the minimum downward bending amplitude should be greater than the height of the guide slide rail 101;

[0229] The left slider 301 or the right slider 303, under the restriction of the slide groove 601, runs along the curved downward trajectory of the left slide rail 201 or the right slide rail 202, thereby forming a downward pressure, which will force the guide slider 302 to disengage from the transition slide rail 207. Since the transition slide rail 207 is a "T"-shaped structure, its lower part has no obstacle to the downward movement of the guide slider 302. Therefore, under the action of the downward pressure, the guide slider 302 can easily overcome the elastic force of the spring 316 on the PRT trolley 112 and disengage from the transition slide rail 207.

[0230] After the guide slide block 302 is separated from the transition slide rail 207 , the PRT trolley 112 is controlled by the left sliding pair or the right sliding pair, so that the PRT trolley 112 turns from the main road 114 to the left auxiliary road 203 or the right auxiliary road 204 for travel.

[0231] The left slide rail 201 and the right slide rail 202 behind the track change point 402 are designed to be arc-shaped in the horizontal direction, and the curvature thereof is consistent with the turning radius of the left auxiliary road 203 and the right auxiliary road 204, so as to guide the PRT trolley 112 to turn smoothly.

[0232] After the track change, the left slider 301 and the right slider 303 will quickly climb from the lowest end of the curved downward path to a position flush with the guide slide rail 101 on the left auxiliary road section 203 and the right auxiliary road section 204, and the left slider 301 or the right slider 303 that is patrolling will also quickly return from the lowest end of the track change slide rail to a position flush with the guide slide rail 101 on the left auxiliary road section 203 and the right auxiliary road section 204.

[0233] Track change termination section 404: After the PRT trolley 112 exits the fork in the road, it will travel along its corresponding auxiliary road. At this time, the left slide rail 201 or the right slide rail 202 must retain a certain distance of overlap with the guide slide rail 101 set above the left auxiliary road 203 and the right auxiliary road 204. The slide rails are parallel and fixed in distance from each other on the horizontal plane where the overlapping section is located to ensure that the guide slider 302 is reintroduced onto the guide slide rail 101 on the auxiliary road. During this stage, the left slide rail 201 or the right slide rail 202 respectively acts on the PRT trolley 112 with the guide slide rail 101 on the auxiliary road until the left slide rail 201 or the right slide rail 202 terminates, and the PRT trolley 112 is then controlled solely by the guide sliding pair, and the track change and reversing is completed.

[0234] The three stages transition smoothly, completing a rapid track change and direction change process;

[0235] A road island 208 is symmetrically provided in the middle of the turnout, and a supporting device may be provided on the road island 208;

[0236] When the PRT trolley 112 is moving straight, the left slider 301 and the right slider 302 are both in a drooping static state, and the drooping amplitude is greater than the maximum downward bending amplitude of the track change slide rail. Therefore, when the PRT trolley 112 is moving straight through the intersection, the track change slider will not contact the corresponding slide rail, and will have no effect on the operation of the PRT trolley 112 moving straight.

[0237] When the PRT car 112 merges into the main road 114 from the auxiliary road intersection, that is, the PRT car 112 merges into the "virtual train" group from the switch, its track change process is similar to the above process. As far as the main switch is concerned, the track change at the auxiliary switch is different from it in that the working order of the pre-track change section 401 and the track change terminal section 404 is reversed.

[0238] When the rapid track change process is completed, the track change slider returns to the static state from the working state under the control of the operation instruction, and the PRT trolley 112 continues to move forward under the action of the guide sliding pair, waiting for the arrival of the next track change instruction.

[0239] The terms such as up, down, left, right, upper part, lower part, front, back, horizontal, parallel, arc, curvature, area, section, inside, outside, internal, middle, external, side, etc. in this application are for the convenience of description in relation to the drawings and do not represent the actual situation or constitute limitations to this application.

[0240] The above is only a preferred embodiment of the present invention, and does not limit the structure of the present invention in any form. Any simple modification, equivalent change and modification made to the above embodiment according to the technical essence of the present invention are within the scope of the technical solution of the present invention.

Claims

1. A PRT personal rapid transportation system vehicle-mounted guide track change device, It is characterized in that Including: PRT trolley, support parts, vehicle-mounted guide device, direction-changing assembly and vehicle-mounted track-changing device; The vehicle-mounted guide device is arranged on the upper part of the PRT trolley; The vehicle-mounted guiding device comprises: a guiding mechanism and a conducting mechanism; The guide mechanism includes: a guide rail, a slider assembly and a slider bracket; The guide rail is arranged above the road and extends along the length direction of the road. The guide rail changes with the curvature of the road and remains parallel to the road surface. The slider assembly includes: a guide slider; the guide slider corresponds to the guide rail, the two form a sliding pair, and the slider assembly is arranged below the guide rail; The guide slide block is clamped on the guide slide rail; The guide slide block comprises: a housing, a large ball, a small ball, a ball rack and an elastic member; A groove is opened in the middle of the shell, and at least two large balls are symmetrically embedded on both sides of the upper part of the groove opening. The grooves located below the large balls are expanded to both sides into a trumpet shape and are adapted to the lower flange of the guide rail. There are several small balls distributed inside the shell at the contact point with the large ball, and the small balls are installed through the ball rack; The outer circle of the large ball is adapted to the slide groove, and a gap adapted to the slide groove is left between the large balls that are opposite to each other; The slider bracket includes: a left shaft, a right shaft, a connecting rod 1, a connecting rod 2, a connecting rod 3, a driving member 1, a driving member 2 and a mounting seat; The guide slider is fixed at the center of the slider bracket via a connecting rod; A left shaft and a right shaft are symmetrically fixed on both sides of the connecting rod three; The left shaft and the right shaft are provided with a driving member 1 and a driving member 2 respectively, and the driving member 1 and the driving member 2 are controlled by the operation instruction of the PRT trolley; The first driving member converts the left slider from the static position to the track changing position, and the second driving member converts the right slider from the static position to the track changing position. The two driving members are interlocked with each other and do not act at the same time. The mounting seat is fixedly arranged below the connecting rod three and is fixedly connected to the upper end of the guide lever.

2. According to claim 1, the PRT personal rapid transportation system vehicle-mounted guide track change device is characterized by: The transmission mechanism is arranged on the roof of the PRT trolley, including: a guide lever assembly, a direction-changing assembly, a vertical guide rod and a bogie; The guide lever assembly includes: a guide lever and a lifting spring component; The guide pick is set on the top of the PRT trolley in a swept manner, with its upper end fixed to the slider assembly and its lower end hinged to the upper side of the direction-changing assembly; The lifting spring components include: springs and buffers; The spring component is arranged at an appropriate position below the guide lever, the upper end of the spring component is hinged to the guide lever via an upper spring seat, and the lower end of the spring component is hinged to the top of the PRT trolley via a lower spring seat.

3. According to claim 1, the PRT personal rapid transportation system vehicle-mounted guide track change device is characterized by: The direction-changing assembly includes: a ball seat, a ball joint and a coupling; The ball seat is fixed on the top of the PRT trolley; the ball seat is a cavity structure, the ball joint is installed in the ball seat, the inner circle of the ball seat is adapted to the outer circle of the ball joint, and the two form a sliding pair; The direction-changing assembly adopts a guide rod transmission method, including: guide rod one, guide rod two, guide rod three and a guide rod shaft; One end of the first guide rod is fixedly connected to the lower end of the driven shaft of the coupling, and the other end is hinged to the second guide rod. The other end of the second guide rod is hinged to the third guide rod, and the other end of the third guide rod is fixedly connected to the upper end of the vertical guide rod. The first guide rod, the second guide rod and the third guide rod are arranged in the same plane, and the three are in a "C" shape and are all hinged through guide rod shafts. The vertical guide rod transmits the guided torque to the front bogie after reversing, with its upper end fixedly connected to one end of the third guide rod and its lower end connected to the front bogie. The bogie is used to transmit the guided torque to the steering wheels to achieve autonomous control of the driving direction of the PRT vehicle.

4. The on-vehicle guiding and rail-changing device of the PRT personal rapid transit system according to claim 1, characterized in that: The support member includes: Columns and trusses; The columns and trusses are used to fixedly suspend each slide rail. The truss is arranged above the columns and is in the shape of "F" or "冂". The "F" shape is arranged on the straight section of the road, and the "冂" shape is a reinforced bracket arranged at the road intersection or curve.

5. The on-vehicle guiding and rail-changing device of the PRT personal rapid transit system according to claim 1, characterized in that: The on-vehicle rail-changing device includes: a rail-changing slide rail and a rail-changing slider; The rail-changing slide rail includes: a left slide rail, a right slide rail and a transition slide rail; The rail-changing slide rail is arranged above the road in the turnout area. A transition slide rail is provided between the main turnouts. The rail-changing slide rail further includes a guiding slide rail. In a certain section before and after the rail-changing section of the turnout, the guiding slide rail, the left slide rail and the right slide rail are jointly arranged above the road. The left slide rail and the right slide rail are arranged on the left and right sides of the guiding slide rail respectively. Except for the rail-changing section, the three are parallel to each other on the horizontal plane and the distance between them is fixed. Among them, the left slide rail and the left slider form a left sliding pair, and the right slide rail and the right slider form a right sliding pair. The slider assembly further includes: a rail-changing slider and a slider bracket; The rail-changing slider includes: a left slider and a right slider; The left slider and the right slider are arranged on the left and right sides of the guiding slider respectively and form sliding pairs with their corresponding slide rails respectively. The slider bracket includes: a left shaft, a right shaft, a first driving member, a second driving member, a first connecting rod, a second connecting rod, a third connecting rod and a mounting seat; The guiding slider is fixedly arranged at the center of the upper end of the slider bracket through the third connecting rod. The left shaft and the right shaft are symmetrically and fixedly arranged on both sides of the third connecting rod. The first driving member and the second driving member are respectively arranged on the left shaft and the right shaft. The first driving member and the second driving member are respectively hinged with the first connecting rod and the second connecting rod, and the other ends of the first connecting rod and the second connecting rod are respectively fixedly connected to the left slider and the right slider. The rail-changing slide rail includes: a pre-rail-changing section, a rail-changing section and a rail-changing termination section; The pre-rail-changing section is within a certain section before the road intersection. The guiding slide rail, the left slide rail and the right slide rail are jointly arranged above the road. Except for the rail-changing section, the three are parallel to each other on the horizontal plane and the distance between them is fixed. In terms of length, the three must have an overlapping section with a certain distance. In the pre-rail-changing section, the three are fixedly arranged on the same truss. To increase the support strength, two support columns are distributed at both ends of the truss.

6. The control method of the on-vehicle guiding and rail-changing device of the PRT personal rapid transit system according to any one of claims 1-5, characterized in that: When the PRT vehicle runs to the front of the turnout, there are three options in the forward direction: going straight, turning left by rail-changing or turning right by rail-changing. When the PRT trolley does not need to change track, the onboard track changing device does not work. At this time, only the guide slider is in contact with the transition slide rail in the track changing section, and the other sliders are in a static state. The PRT trolley quickly goes straight through the turnout section under the guidance of the transition slide rail. When the left-moving trolley needs to change track to the left, the left slider is driven to the specified position by the driving member before the pre-track change section. At this moment, the left slider and the guide slider are kept flush and the distance between them is fixed, so as to prepare for the next step of the left-moving trolley to change track to the left. When the right-moving trolley needs to change track to the right, the right slider is driven by the driving component 2 to the specified position before the pre-track change section. At this moment, the right slider and the guide slider are kept flush and the distance between them is fixed, so as to prepare for the next step of the right-moving trolley changing track to the left. When it is necessary to change tracks, the track change command must be issued before the PRT trolley reaches the pre-track change section, so that the track change slider moves into place in advance. The PRT trolley moves forward from the pre-track change section to the track change point. At this moment, the guide slider is forced to leave the transition slide and loses its guiding ability. If the PRT trolley executes the left track change reversing command, the left slide rail and the left slider form a left sliding pair that abut against each other, controlling it to change tracks to the left auxiliary road; if the PRT trolley executes the right track change reversing command, the right slide rail and the right slider form a right sliding pair that abut against each other, controlling it to change tracks to the right auxiliary road. The left slider and the right slider are interlocked with each other and do not move at the same time. In order to facilitate the smooth introduction of each slider into the corresponding slide rail, the introduction and export ends of each slide rail are designed to be wedge-shaped and trumpet-shaped; At the track change point, the left and right rails gradually bend downward from a horizontal state, and the minimum downward bending amplitude is greater than the height of the rails; The left slider or the right slider runs along the curved downward track of the left or right slide rail under the restriction of the slide groove, thereby forming a downward pressure, which will force the guide slider to disengage from the transition slide rail. Since the transition slide rail is a T-shaped structure, its lower part does not hinder the downward movement of the guide slider. Under the action of the downward pressure, the guide slider overcomes the elastic force of the spring on the PRT trolley and disengages from the transition slide rail. After the guide slide block is separated from the transition slide rail, the PRT trolley is controlled by the left sliding pair or the right sliding pair, so that the PRT trolley turns from the main road to the left auxiliary road or the right auxiliary road; The left and right rails after the track change point are arranged in an arc shape in the horizontal direction, and the arc is consistent with the turning radius of the left and right auxiliary roads to guide the PRT trolley to turn smoothly; After the track change, the left and right slide rails will quickly climb from the lowest end of the curved downward path to a position flush with the guide slide rails on the left and right auxiliary sections, and the left or right slide block will also quickly return from the lowest end of the track change slide rail to a position flush with the guide slide rails on the auxiliary section. After the PRT trolley exits the fork in the road, it will travel along the corresponding left or right auxiliary road. At this time, the left or right slide rail must retain a certain distance of overlap with the guide slide rail set above the auxiliary road. The slide rails are parallel and fixed in distance from each other on the horizontal plane where the overlapping section is located to ensure that the guide slider is re-introduced onto the guide slide rail of the auxiliary road. The left or right slide rail acts on the PRT trolley with the guide slide rail on the left or right auxiliary road respectively until the left or right slide rail terminates. The PRT trolley is then controlled solely by the guide sliding pair, and the track change and direction reversing are completed.

7. The control method of the PRT personal rapid transportation system vehicle-mounted guide track change device according to claim 6 is characterized by: When the PRT trolley is moving straight, the left and right sliders are both in a drooping static state, and the drooping amplitude is greater than the maximum amplitude of the downward bending of the track change slide rail. Therefore, when the PRT trolley is moving straight through the intersection, the track change slider will not contact the corresponding slide rail, and will have no effect on the operation of the PRT trolley moving straight; When the PRT car merges into the main road from the auxiliary road intersection, that is, the PRT car merges into the virtual train set at the turnout, its track change and direction switching process is the same as the above process. As far as the main turnout is concerned, the track change and direction switching at the auxiliary turnout is just to reverse the working order of the pre-track change section and the track change terminal section. When the rapid track change process is completed, the track change slider returns to the static state from the working state under the control of the operating instruction, waiting for the next track change instruction.

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