Balance control device and method for detachable cable gripper of cable car

Abstract

The present application relates to the technical field of cableway cable car equipment, and specifically to a balance control device and method for a detachable cable gripper of a cable car car. When the present application is applied, the connector is located in the middle of the suspension beam, the support body and the running wheel are located on the left side of the connector, and the balance wheel is located on the right side of the connector. When the detection plate swings counterclockwise relative to the friction plate, it means that the right side of the suspension beam has a tendency to lift up. At this time, the second walking trolley is controlled to move in a direction away from the connector, and the second counterweight block away from the middle position of the connector can press down the right side of the suspension beam, and the first walking trolley is controlled to move in a direction close to the connector, and the first counterweight block close to the middle position of the connector can lift up the left side of the suspension beam to achieve balance adjustment, reduce or eliminate the counterclockwise swing tendency of the detection plate relative to the friction plate. When the detection plate swings clockwise relative to the friction plate, the movement adjustment directions of the first walking trolley and the second walking trolley are opposite.

Description

Technical Field

[0001] The present application relates to the technical field of cableway cable car equipment, and in particular to a balance control device and method for a detachable cable gripper of a cable car car. Background Art

[0002] Aerial ropeway is an aerial transportation facility that uses overhead steel cables to support the operation of cable cars. The detachable gripper can be used to detach the steel wire rope when the cable car car runs into the station, and then the friction plate of the detachable gripper is driven by the tire, so that the cable car car runs at a low speed on the track inside the station to facilitate passengers to get on and off, while the cable car cars on the lines outside the station are not affected. In the current application of the detachable cable gripper, when the cable car runs into the cableway station, the detachable force applicator in the station presses down the clamp, the detachable force applicator releases the clamp, and the detachable cable gripper runs in the track in the station. Due to the large number of force points on the detachable cable gripper, the suspension beam of the detachable cable gripper will be tilted. The tilt of the suspension beam will cause uneven force deflection in the horizontal direction on the structures such as the traveling wheels, balancing wheels, and friction plates of the detachable cable gripper. Long-term operation will cause uneven wear in the horizontal direction on the structures such as the traveling wheels, balancing wheels, and friction plates of the detachable cable gripper, which will cause the balancing ability of the detachable cable gripper inside or outside the station to deteriorate, thus bringing certain safety hazards. Summary of the invention

[0003] In view of this, the present application provides a balance control device and method for a detachable cable gripper of a cable car car, which can control the balance of the suspension beam, avoid the problem of uneven horizontal wear of the traveling wheels, balance wheels, friction plates and other structures of the detachable cable gripper, and thus avoid the deterioration of the balance ability of the detachable cable gripper inside or outside the station.

[0004] In the first aspect, the present application provides a balance control device for a detachable cable car gripper, wherein the detachable cable car gripper comprises: a suspension beam for mounting a cable car, a suspension arm of the cable car is connected to a connector of the suspension beam, and a travel wheel and a balance wheel are respectively provided at both ends of the suspension beam; a clamping structure connected to the suspension beam, and the clamping structure is configured to hold or release a wire rope; a support body fixed to the suspension beam; a detection plate fixed at the left end of the support body, and a swing shaft with rotational damping is provided on the detection plate, and the axial direction of the swing shaft is the same as the travel direction of the detachable cable car gripper; a friction plate rotatably connected to the swing shaft of the detection plate; and at least two shock absorbers, at least one of which is provided on each side of the swing shaft, and the shock absorbers are respectively connected to the detection plate and the friction plate; the balance control device comprises: a swing detection mechanism, which is respectively connected to the detection plate and the friction plate, and the swing detection mechanism is configured to detect the swing direction of the detection plate relative to the friction plate; a first counterweight block, which is slidably connected to the suspension beam through a first walking trolley on the bottom surface of the beam, the sliding direction of the first counterweight block is parallel to the length direction of the suspension beam and perpendicular to the axial direction of the swing shaft; the second counterweight block is slidably connected to the bottom surface of the suspension beam through the second walking trolley, the sliding direction of the second counterweight block is parallel to the length direction of the suspension beam and perpendicular to the axial direction of the swing shaft, the first slide rail of the first counterweight block and the second slide rail of the second counterweight block are respectively located on opposite sides of the connector; and a controller is communicatively connected to the swing detection mechanism, the first walking trolley and the second walking trolley respectively, the controller being configured to: obtain the swing direction of the detection plate relative to the friction plate; if the detection plate swings counterclockwise relative to the friction plate, the second walking trolley is controlled to move in a direction away from the connector, and the first walking trolley is controlled to move in a direction close to the connector; and if the detection plate swings clockwise relative to the friction plate, the second walking trolley is controlled to move in a direction close to the connector, and the first walking trolley is controlled to move in a direction away from the connector.

[0005] In combination with the first aspect, in a possible implementation, the swing detection mechanism includes: a first stress detector, which is arranged on the detection plate, and the force measuring end of the first stress detector is connected to the friction plate to detect a first stress value between the detection plate and the friction plate at the position of the first stress detector; and a second stress detector, which is arranged on the detection plate, and the force measuring end of the second stress detector is connected to the friction plate to detect a second stress value between the detection plate and the friction plate at the position of the second stress detector, and the first stress detector and the second stress detector are symmetrically located on both sides of the axial direction of the swing shaft; wherein the controller is configured to: obtain the first stress value and the second stress value; if the first stress value is greater than the second stress value, control the second walking trolley to move in a direction close to the connector, and control the first walking trolley to move in a direction away from the connector; and if the first stress value is less than the second stress value, control the second walking trolley to move in a direction away from the connector, and control the first walking trolley to move in a direction close to the connector.

[0006] In combination with the first aspect, in a possible implementation, the swing detection mechanism includes: a first rangefinder, which is arranged on the detection plate, and the first rangefinder is configured to detect a first distance value between the detection plate and the friction plate at the position of the first rangefinder; and a second rangefinder, which is arranged on the detection plate, and the second rangefinder is configured to detect a second distance value between the detection plate and the friction plate at the position of the second rangefinder, and the first rangefinder and the second rangefinder are symmetrically located on both sides of the axial direction of the swing shaft; wherein the controller is configured to: obtain the first distance value and the second distance value; if the first distance value is less than the second distance value, control the second walking trolley to move in a direction close to the connector, and control the first walking trolley to move in a direction away from the connector; and if the first distance value is greater than the second distance value, control the second walking trolley to move in a direction away from the connector, and control the first walking trolley to move in a direction close to the connector.

[0007] In combination with the first aspect, in a possible implementation manner, both the first rangefinder and the second rangefinder are laser rangefinders.

[0008] A balance control method for a detachable cable gripper of a cable car car is applied to a balance control device; the detachable cable gripper comprises: a suspension beam for mounting a cable car car, a suspension arm of the cable car car is connected to a connector of the suspension beam, and two ends of the suspension beam are respectively provided with a traveling wheel and a balancing wheel; a clamping structure connected to the suspension beam, and the clamping structure is configured to hold or release a wire rope; a support body fixed to the suspension beam; a detection plate fixed at the left end of the support body, a swing shaft with rotational damping is provided on the detection plate, and the axial direction of the swing shaft is the same as the traveling direction of the detachable cable gripper; a friction plate rotatably connected to the swing shaft of the detection plate; and at least two shock absorbers, at least one of the shock absorbers is provided on each side of the swing shaft, and the shock absorbers are respectively connected to the detection plate and the friction plate; the balance control device comprises: a swing detection mechanism, respectively connected to the detection plate and the friction plate, and the swing detection mechanism is configured to detect the swing direction of the detection plate relative to the friction plate; a first counterweight, The first trolley is slidably connected to the bottom surface of the suspension beam, and the sliding direction of the first counterweight block is parallel to the length direction of the suspension beam and perpendicular to the axial direction of the swing axis; the second counterweight block is slidably connected to the bottom surface of the suspension beam through the second trolley, and the sliding direction of the second counterweight block is parallel to the length direction of the suspension beam and perpendicular to the axial direction of the swing axis, and the first slide rail of the first counterweight block and the second slide rail of the second counterweight block are respectively located on opposite sides of the connector; wherein the balance control method includes: obtaining the swing direction of the detection plate relative to the friction plate; if the detection plate swings counterclockwise relative to the friction plate, the second walking trolley is controlled to move in a direction away from the connector, and the first walking trolley is controlled to move in a direction close to the connector; and if the detection plate swings clockwise relative to the friction plate, the second walking trolley is controlled to move in a direction close to the connector, and the first walking trolley is controlled to move in a direction away from the connector.

[0009] In combination with the second aspect, in a possible implementation, the swing detection mechanism includes: a first stress detector, which is arranged on the detection plate, and the force measuring end of the first stress detector is connected to the friction plate to detect a first stress value between the detection plate and the friction plate at the position of the first stress detector; and a second stress detector, which is arranged on the detection plate, and the force measuring end of the second stress detector is connected to the friction plate to detect a second stress value between the detection plate and the friction plate at the position of the second stress detector, and the first stress detector and the second stress detector are symmetrically located on both sides of the axial direction of the swing shaft; wherein the balance control method also includes: obtaining the first stress value and the second stress value; if the first stress value is greater than the second stress value, controlling the second walking trolley to move in a direction close to the connector, and controlling the first walking trolley to move in a direction away from the connector; and if the first stress value is less than the second stress value, controlling the second walking trolley to move in a direction away from the connector, and controlling the first walking trolley to move in a direction close to the connector.

[0010] In combination with the second aspect, in a possible implementation, the swing detection mechanism includes: a first rangefinder, which is arranged on the detection plate, and the first rangefinder is configured to detect a first distance value between the detection plate and the friction plate at the position of the first rangefinder; and a second rangefinder, which is arranged on the detection plate, and the second rangefinder is configured to detect a second distance value between the detection plate and the friction plate at the position of the second rangefinder, and the first rangefinder and the second rangefinder are symmetrically located on both sides of the axial direction of the swing axis; wherein the balance control method further includes: obtaining the first distance value and the second distance value; if the first distance value is less than the second distance value, controlling the second walking trolley to move in a direction close to the connector, and controlling the first walking trolley to move in a direction away from the connector; and if the first distance value is greater than the second distance value, controlling the second walking trolley to move in a direction away from the connector, and controlling the first walking trolley to move in a direction close to the connector.

[0011] In combination with the second aspect, in a possible implementation method, it also includes: if the difference between the first distance value and the second distance value is greater than the preset difference, the first walking trolley is controlled to move at a constant first preset speed, and the second walking trolley is controlled to move at a constant second preset speed; and if the difference between the first distance value and the second distance value is less than the preset difference, the first walking trolley is controlled to move at a first preset acceleration to decelerate, and the second walking trolley is controlled to move at a second preset acceleration to decelerate.

[0012] In combination with the second aspect, in a possible implementation, the first ratio is equal to the second ratio, the first ratio is the ratio of the first preset speed to the second preset speed, and the second ratio is the ratio of the first track length of the first walking trolley to the second track length of the second walking trolley; the third ratio is equal to the second ratio, and the third ratio is the ratio of the second preset acceleration to the first preset acceleration.

[0013] In conjunction with the second aspect, in a possible implementation manner, both the first rangefinder and the second rangefinder are laser rangefinders.

[0014] When the present application is used, when the detection plate swings counterclockwise relative to the friction plate, it means that the right part of the suspension beam has a tendency to lift up, and the left part of the suspension beam has a tendency to fall. At this time, the second trolley is controlled to move in the direction away from the connector, and the second counterweight block away from the middle position of the connector can press down the right part of the suspension beam, and the first trolley is controlled to move in the direction close to the connector, and the first counterweight block close to the middle position of the connector can lift up the left part of the suspension beam to achieve balance adjustment, reduce or eliminate the counterclockwise swinging trend of the detection plate relative to the friction plate. When the detection plate swings clockwise relative to the friction plate, it means that the right part of the suspension beam has a tendency to fall, and the left part of the suspension beam has a tendency to lift up. At this time, the second trolley is controlled to move in the direction close to the connector, and the second counterweight block close to the middle position of the connector can lift up the right part of the suspension beam, and the first trolley is controlled to move in the direction away from the connector, and the first counterweight block away from the middle position of the connector can press down the left part of the suspension beam. A closed-loop balancing adjustment is realized to reduce or eliminate the clockwise swinging tendency of the detection plate relative to the friction plate, and the closed-loop feedback adjustment is performed until the detection plate has no rotation tendency relative to the friction plate. During the swinging process of the detection plate relative to the friction plate, the swing shaft with rotation damping and the shock absorber can slow down the swinging tendency, avoid the swinging frequency of the detection plate relative to the friction plate being too high, and thus avoid the position adjustment of the first trolley and the second trolley being too frequent, which may reduce the life of the sliding structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 Shown is a schematic structural diagram of a balance control device for a detachable cable gripper of a cable car car provided in one embodiment of the present application.

[0016] Figure 2 Shown is a schematic structural diagram of a balance control device for a detachable cable gripper of a cable car car provided in another embodiment of the present application.

[0017] Figure 3 Shown is a schematic diagram of the method steps of a balancing control method provided in another embodiment of the present application.

[0018] Figure 4 Shown is a schematic diagram of the method steps of a balancing control method provided in another embodiment of the present application.

[0019] Figure 5 Shown is a schematic diagram of the method steps of a balancing control method provided in another embodiment of the present application.

[0020] Figure 6 Shown is a schematic diagram of the method steps of a balancing control method provided in another embodiment of the present application.

[0021] Figure 7 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0023] The balance control device of the detachable gripper of an exemplary cable car car is as follows:

[0024] Figure 1 The figure shows a structural schematic diagram of a balance control device of a detachable cable gripper of a cable car provided in one embodiment of the present application. The present application provides a balance control device of a detachable cable gripper of a cable car. In one embodiment, the detachable cable gripper comprises: a suspension beam 1, a gripping structure 2, a support body 3, a detection plate 4, a friction plate 5, at least two shock absorbers 6, a lower pressure wheel 15, a spring 16, a balance wheel 17, and a travel wheel 18.

[0025] The suspension beam 1 is used to mount the cable car car. The suspension arm 110 of the cable car car is connected to the connector 101 of the suspension beam 1. The two ends of the suspension beam 1 are respectively provided with a travel wheel 18 and a balance wheel 17. The clamping structure 2 is connected to the suspension beam 1, and the clamping structure 2 is configured to hold or release the wire rope. The support body 3 is fixed on the suspension beam 1. The detection plate 4 is fixed at the left end of the support body 3. The detection plate 4 is provided with a swing shaft with rotation damping, and the axial direction of the swing shaft is the same as the traveling direction of the detaching cable gripper. The friction plate 5 is rotatably connected to the swing shaft of the detection plate 4. At least one shock absorber 6 is provided on each side of the swing shaft, and the shock absorber 6 is respectively connected to the detection plate 4 and the friction plate 5. When the cable car car enters the cableway station, the detaching force applicator in the cableway station presses the lower pressure wheel 15 downward, and the lower pressure wheel 15 drives the clamping structure 2 to open, thereby releasing the wire rope to achieve detachment. Then the running wheel 18 and the balancing wheel 17 run in the predetermined track in the cableway station, and the driving tire in the cableway station applies friction force to the friction plate 5 to drive the entire detachable cable gripper to move in the cableway station, and then drives the cable car car to move in the cableway station through the boom 110. The standard state of each structure of the detachable cable gripper when it is stationary in the cableway station is adjusted as follows: when the driving tire is in full contact with the friction plate 5, when the running wheel 18 and the balancing wheel 17 are stably connected in the predetermined track, the detection plate 4 and the friction plate 5 are parallel to each other and have no swinging tendency. Since the detachable force applicator in the cableway station presses down the clamping structure 2, and the detachable force applicator releases the clamping structure 2 after pressing down, and the detachable cable gripper runs in the track in the station, due to the large number of stress points of the detachable cable gripper and the insufficient flatness of the track in the station, the suspension beam 1 of the detachable cable gripper will be tilted. The tilt of the suspension beam will cause the traveling wheel 18, the balance wheel 17, the friction plate 5 and other structures of the detachable cable gripper to be unevenly deflected in the horizontal direction. Under long-term operation, the traveling wheel 18, the balance wheel 17, the friction plate 5 and other structures of the detachable cable gripper will have uneven wear in the horizontal direction. For example, if the balance wheel 17 is worn too much, the size will be reduced. When the cable car car is running in the air, the suspension beam 1 may be skewed. When running in the cableway station, the balance wheel 17 cannot be in stable contact with the predetermined track, which will also cause the suspension beam 1 to be skewed. In short, this will cause the balancing ability of the detachable cable gripper to deteriorate inside or outside the station, which will bring certain safety hazards.

[0026] To this end, the present application provides a balance control device, which includes: a swing detection mechanism, a first counterweight block 9, a second counterweight block 10 and a controller. The controller can be a single-chip microcomputer storing a feedback control program.

[0027] The swing detection mechanism is connected to the detection plate 4 and the friction plate 5 respectively, and the swing detection mechanism is configured to detect the swing direction of the detection plate 4 relative to the friction plate 5. The first counterweight 9 is slidably connected to the bottom surface of the suspension beam 1 through the first walking trolley 901, and the sliding direction of the first counterweight 9 is parallel to the length direction of the suspension beam 1 and perpendicular to the axial direction of the swing axis. The second counterweight 10 is slidably connected to the bottom surface of the suspension beam 1 through the second walking trolley 1001, and the sliding direction of the second counterweight 10 is parallel to the length direction of the suspension beam 1 and perpendicular to the axial direction of the swing axis. The first slide rail of the first counterweight 9 and the second slide rail of the second counterweight 10 are respectively located on opposite sides of the connector 101. The controller is communicatively connected to the swing detection mechanism, the first walking trolley 901 and the second walking trolley 1001 respectively. The controller is configured to: obtain the swinging direction of the detection plate 4 relative to the friction plate 5; if the detection plate 4 swings counterclockwise relative to the friction plate 5, control the second walking trolley 1001 to move in a direction away from the connector 101, and control the first walking trolley 901 to move in a direction close to the connector 101; and if the detection plate 4 swings clockwise relative to the friction plate 5, control the second walking trolley 1001 to move in a direction close to the connector 101, and control the first walking trolley 901 to move in a direction away from the connector 101.

[0028] In this embodiment, when applied, Figure 1 and Figure 2 The direction is taken as a reference, that is, the connector 101 is located in the middle of the suspension beam 1, the support body 3 and the travel wheel 18 are located on the left side of the connector 101, the balance wheel 17 is located on the right side of the connector 101, and the axial direction of the swing axis is perpendicular to Figure 1 and Figure 2 . Figure 1As shown, when the detection plate 4 swings counterclockwise relative to the friction plate 5, it indicates that the right side portion of the suspension beam 1 has an upward tendency, and the left side portion of the suspension beam 1 has a downward tendency. At this time, the second walking trolley 1001 is controlled to move in a direction away from the connector 101, and the second counterweight block 10 is away from the connector 101 in the middle position, so that the right side portion of the suspension beam 1 can be pressed down, and the first walking trolley 901 is controlled to move in a direction close to the connector 101, and the first counterweight block 9 is close to the connector 101 in the middle position, so that the left side portion of the suspension beam 1 can be lifted, thereby achieving balance adjustment and reducing or eliminating the counterclockwise swinging tendency of the detection plate 4 relative to the friction plate 5. When the detection plate 4 swings clockwise relative to the friction plate 5, it means that the right side of the suspension beam 1 has a downward trend and the left side of the suspension beam 1 has an upward trend. At this time, the second walking trolley 1001 is controlled to move toward the direction close to the connector 101, and the second counterweight block 10 close to the connector 101 in the middle position can lift the right side of the suspension beam 1, and the first walking trolley 901 is controlled to move away from the connector 101, and the first counterweight block 9 away from the connector 101 in the middle position can press down the left side of the suspension beam 1. Closed-loop balancing adjustment is achieved to reduce or eliminate the clockwise swinging trend of the detection plate 4 relative to the friction plate 5, and the closed-loop feedback adjustment is performed until the detection plate 4 has no rotation trend relative to the friction plate 5. In the swinging process of the detection plate 4 relative to the friction plate 5, the swing shaft with rotation damping and the shock absorber 6 can slow down the swinging trend, avoid the swinging frequency of the detection plate 4 relative to the friction plate 5 to be too high, and thus avoid the position adjustment of the first walking trolley 901 and the second walking trolley 1001 is too frequent, resulting in a reduction in the life of the sliding structure.

[0029] Specifically, in one embodiment, Figure 1 As shown, the swing detection mechanism includes a first stress detector 7 and a second stress detector 8. The first stress detector 7 is arranged on the detection plate 4, and the force measuring end of the first stress detector 7 is connected to the friction plate 5 to detect the first stress value between the detection plate 4 and the friction plate 5 at the position of the first stress detector 7. The second stress detector 8 is arranged on the detection plate 4, and the force measuring end of the second stress detector 8 is connected to the friction plate 5 to detect the second stress value between the detection plate 4 and the friction plate 5 at the position of the second stress detector 8. The first stress detector 7 and the second stress detector 8 are symmetrically located on both sides of the axial direction of the swing shaft.

[0030] Wherein, the controller is configured to: obtain a first stress value and a second stress value;

[0031] If the first stress value is greater than the second stress value, the second traveling trolley 1001 is controlled to move toward the direction close to the connector 101, and the first traveling trolley 901 is controlled to move toward the direction away from the connector 101; and

[0032] If the first stress value is smaller than the second stress value, the second traveling trolley 1001 is controlled to move in a direction away from the connector 101 , and the first traveling trolley 901 is controlled to move in a direction close to the connector 101 .

[0033] In this embodiment, the swinging tendency of the detection plate 4 relative to the friction plate 5 is determined by detecting stress.

[0034] Figure 2 FIG. 2 is a schematic diagram of a structure of a balance control device for a cable car car detachable gripper provided by another embodiment of the present application. Specifically, in another embodiment, Figure 2 As shown, the swing detection mechanism includes a first rangefinder 11 and a second rangefinder 12. The first rangefinder 11 is arranged on the detection plate 4, and the first rangefinder 11 is configured to detect a first distance value between the detection plate 4 and the friction plate 5 at the position of the first rangefinder 11. The second rangefinder 12 is arranged on the detection plate 4, and the second rangefinder 12 is configured to detect a second distance value between the detection plate 4 and the friction plate 5 at the position of the second rangefinder 12, and the first rangefinder 11 and the second rangefinder 12 are symmetrically located on both sides of the axial direction of the swing shaft.

[0035] Among them, the controller configuration is:

[0036] Get the first distance value and the second distance value;

[0037] If the first distance value is smaller than the second distance value, the second traveling trolley 1001 is controlled to move toward the direction close to the connector 101, and the first traveling trolley 901 is controlled to move toward the direction away from the connector 101; and

[0038] If the first distance value is greater than the second distance value, the second traveling trolley 1001 is controlled to move in a direction away from the connector 101 , and the first traveling trolley 901 is controlled to move in a direction close to the connector 101 .

[0039] In this embodiment, the swinging tendency of the detection plate 4 relative to the friction plate 5 is determined by detecting the distance.

[0040] In some embodiments, both the first rangefinder 11 and the second rangefinder 12 are laser rangefinders.

[0041] The balance control method of the detachable gripper of an exemplary cable car car is as follows:

[0042] A balance control method for a detachable cable gripper of a cable car car is applied to a balance control device; the detachable cable gripper comprises: a suspension beam 1, a gripping structure 2, a support body 3, a detection plate 4, a friction plate 5, at least two shock absorbers 6, a lower pressure wheel 15, a spring 16, a balance wheel 17, and a traveling wheel 18.

[0043] The suspension beam 1 is used to mount the cable car car. The suspension arm 110 of the cable car car is connected to the connector 101 of the suspension beam 1. The two ends of the suspension beam 1 are respectively provided with a travel wheel 18 and a balance wheel 17. The clamping structure 2 is connected to the suspension beam 1, and the clamping structure 2 is configured to hold or release the wire rope. The support body 3 is fixed on the suspension beam 1. The detection plate 4 is fixed at the left end of the support body 3. The detection plate 4 is provided with a swing shaft with rotation damping, and the axial direction of the swing shaft is the same as the traveling direction of the detaching cable gripper. The friction plate 5 is rotatably connected to the swing shaft of the detection plate 4. At least one shock absorber 6 is provided on each side of the swing shaft, and the shock absorber 6 is respectively connected to the detection plate 4 and the friction plate 5. When the cable car car enters the cableway station, the detaching force applicator in the cableway station presses the lower pressure wheel 15 downward, and the lower pressure wheel 15 drives the clamping structure 2 to open, thereby releasing the wire rope to achieve detachment. Then the running wheel 18 and the balancing wheel 17 run in the predetermined track in the cableway station, and the driving tire in the cableway station applies friction force to the friction plate 5 to drive the entire detachable cable gripper to move in the cableway station, and then drives the cable car car to move in the cableway station through the suspension arm 110. Since the detachable force applicator in the cableway station presses down the clamping structure 2, and the detachable force applicator releases the clamping structure 2 after pressing down, and the detachable cable gripper runs in the track in the station, due to the large number of stress points of the detachable cable gripper and the insufficient flatness of the track in the station, the suspension beam 1 of the detachable cable gripper will be tilted, and the tilt of the suspension beam will cause the detachable cable gripper's running wheel 18, balancing wheel 17, friction plate 5 and other structures to be unevenly deflected in the horizontal direction, and the detachable cable gripper's running wheel 18, balancing wheel 17, friction plate 5 and other structures will have uneven wear in the horizontal direction under long-term operation. For example, if the balance wheel 17 is worn out too much and becomes smaller in size, the suspension beam 1 may be skewed when the cable car is running in the air, and the balance wheel 17 cannot stably contact the predetermined track when running in the cableway station, which will also cause the suspension beam 1 to be skewed. In short, this will cause the balancing ability of the detachable cable gripper to deteriorate inside or outside the station, thereby bringing certain safety hazards.

[0044] The balance control device includes: a swing detection mechanism, a first counterweight 9, a second counterweight 10 and a controller. The swing detection mechanism is connected to the detection plate 4 and the friction plate 5 respectively, and the swing detection mechanism is configured to detect the swing direction of the detection plate 4 relative to the friction plate 5. The first counterweight 9 is slidably connected to the bottom surface of the suspension beam 1 through the first walking trolley 901, and the sliding direction of the first counterweight 9 is parallel to the length direction of the suspension beam 1 and perpendicular to the axial direction of the swing axis. The second counterweight 10 is slidably connected to the bottom surface of the suspension beam 1 through the second walking trolley 1001, and the sliding direction of the second counterweight 10 is parallel to the length direction of the suspension beam 1 and perpendicular to the axial direction of the swing axis. The first slide rail of the first counterweight 9 and the second slide rail of the second counterweight 10 are respectively located on opposite sides of the connector 101. The controller is respectively connected to the swing detection mechanism, the first walking trolley 901 and the second walking trolley 1001 in communication.

[0045] Figure 3 FIG. 1 is a schematic diagram of the steps of a balancing control method provided by another embodiment of the present application. Figure 3 As shown, the balance control method includes:

[0046] Step 301 : Obtain the swing direction of the detection plate 4 relative to the friction plate 5 .

[0047] Step 302 , if the detection plate 4 swings counterclockwise relative to the friction plate 5 , the second traveling trolley 1001 is controlled to move in a direction away from the connector 101 , and the first traveling trolley 901 is controlled to move in a direction close to the connector 101 .

[0048] Step 303 , if the detection plate 4 swings clockwise relative to the friction plate 5 , the second traveling trolley 1001 is controlled to move toward the direction approaching the connector 101 , and the first traveling trolley 901 is controlled to move toward the direction away from the connector 101 .

[0049] In this embodiment, when applied, Figure 1 and Figure 2 The direction is taken as a reference, that is, the connector 101 is located in the middle of the suspension beam 1, the support body 3 and the travel wheel 18 are located on the left side of the connector 101, and the balance wheel 17 is located on the right side of the connector 101. Figure 1As shown, when the detection plate 4 swings counterclockwise relative to the friction plate 5, it indicates that the right side portion of the suspension beam 1 has an upward tendency, and the left side portion of the suspension beam 1 has a downward tendency. At this time, the second walking trolley 1001 is controlled to move in a direction away from the connector 101, and the second counterweight block 10 is away from the connector 101 in the middle position, so that the right side portion of the suspension beam 1 can be pressed down, and the first walking trolley 901 is controlled to move in a direction close to the connector 101, and the first counterweight block 9 is close to the connector 101 in the middle position, so that the left side portion of the suspension beam 1 can be lifted, thereby achieving balance adjustment and reducing or eliminating the counterclockwise swinging tendency of the detection plate 4 relative to the friction plate 5. When the detection plate 4 swings clockwise relative to the friction plate 5, it means that the right side of the suspension beam 1 has a downward trend and the left side of the suspension beam 1 has an upward trend. At this time, the second walking trolley 1001 is controlled to move toward the direction close to the connector 101, and the second counterweight block 10 close to the connector 101 in the middle position can lift the right side of the suspension beam 1, and the first walking trolley 901 is controlled to move away from the connector 101, and the first counterweight block 9 away from the connector 101 in the middle position can press down the left side of the suspension beam 1. Closed-loop balancing adjustment is achieved to reduce or eliminate the clockwise swinging trend of the detection plate 4 relative to the friction plate 5, and the closed-loop feedback adjustment is performed until the detection plate 4 has no rotation trend relative to the friction plate 5. In the swinging process of the detection plate 4 relative to the friction plate 5, the swing shaft with rotation damping and the shock absorber 6 can slow down the swinging trend, avoid the swinging frequency of the detection plate 4 relative to the friction plate 5 to be too high, and thus avoid the position adjustment of the first walking trolley 901 and the second walking trolley 1001 is too frequent, resulting in a reduction in the life of the sliding structure.

[0050] Specifically, in one embodiment, Figure 1 As shown, the swing detection mechanism includes: a first stress detector 7 and a second stress detector 8. The first stress detector 7 is arranged on the detection plate 4, and the force measuring end of the first stress detector 7 is connected to the friction plate 5 to detect the first stress value between the detection plate 4 and the friction plate 5 at the position of the first stress detector 7. The second stress detector 8 is arranged on the detection plate 4, and the force measuring end of the second stress detector 8 is connected to the friction plate 5 to detect the second stress value between the detection plate 4 and the friction plate 5 at the position of the second stress detector 8. The first stress detector 7 and the second stress detector 8 are symmetrically located on both sides of the axial direction of the swing shaft.

[0051] Figure 4 FIG. 1 is a schematic diagram of the steps of a balancing control method provided by another embodiment of the present application. Figure 4 As shown, the balance control method also includes:

[0052] Step 401: Obtain a first stress value and a second stress value.

[0053] Step 402 : If the first stress value is greater than the second stress value, the second traveling trolley 1001 is controlled to move toward a direction close to the connector 101 , and the first traveling trolley 901 is controlled to move toward a direction away from the connector 101 .

[0054] Step 403 , if the first stress value is less than the second stress value, control the second traveling trolley 1001 to move in a direction away from the connector 101 , and control the first traveling trolley 901 to move in a direction close to the connector 101 .

[0055] In this embodiment, the swinging tendency of the detection plate 4 relative to the friction plate 5 is determined by detecting stress.

[0056] Figure 2 FIG. 2 is a schematic diagram of a structure of a balance control device for a cable car car detachable gripper provided by another embodiment of the present application. Specifically, in another embodiment, Figure 2 As shown, the swing detection mechanism includes a first rangefinder 11 and a second rangefinder 12. The first rangefinder 11 is arranged on the detection plate 4, and the first rangefinder 11 is configured to detect a first distance value between the detection plate 4 and the friction plate 5 at the position of the first rangefinder 11. The second rangefinder 12 is arranged on the detection plate 4, and the second rangefinder 12 is configured to detect a second distance value between the detection plate 4 and the friction plate 5 at the position of the second rangefinder 12, and the first rangefinder 11 and the second rangefinder 12 are symmetrically located on both sides of the axial direction of the swing shaft.

[0057] Figure 5 FIG. 1 is a schematic diagram of the steps of a balancing control method provided by another embodiment of the present application. Figure 5 As shown, the balance control method also includes:

[0058] Step 501: Obtain a first distance value and a second distance value.

[0059] Step 502 : If the first distance value is smaller than the second distance value, the second traveling trolley 1001 is controlled to move toward a direction approaching the connector 101 , and the first traveling trolley 901 is controlled to move toward a direction away from the connector 101 .

[0060] Step 503 : If the first distance value is greater than the second distance value, the second traveling trolley 1001 is controlled to move in a direction away from the connector 101 , and the first traveling trolley 901 is controlled to move in a direction close to the connector 101 .

[0061] In this embodiment, the swinging tendency of the detection plate 4 relative to the friction plate 5 is determined by detecting the distance.

[0062] Figure 6FIG. 2 is a schematic diagram of the steps of a balance control method provided by another embodiment of the present application. Figure 6 As shown, the balance control method also includes:

[0063] Step 601: If the difference between the first distance value and the second distance value is greater than the preset difference, the first walking trolley 901 is controlled to move at a constant first preset speed, and the second walking trolley 1001 is controlled to move at a constant second preset speed.

[0064] Step 602: If the difference between the first distance value and the second distance value is smaller than the preset difference, the first walking trolley 901 is controlled to move at a deceleration speed at a first preset acceleration, and the second walking trolley 1001 is controlled to move at a deceleration speed at a second preset acceleration.

[0065] In this embodiment, when the difference between the first distance value and the second distance value is greater than the preset difference, it means that the tilting tendency of the detection plate 4 relative to the friction plate 5 is too large. At this time, it is necessary to quickly adjust the balance of the entire suspension beam 1, so the first walking trolley 901 moves at a constant first preset speed, and the second walking trolley 1001 moves at a constant second preset speed. When the difference between the first distance value and the second distance value is less than the preset difference, it means that the tilting tendency of the detection plate 4 relative to the friction plate 5 is small, and the first walking trolley 901 and the second walking trolley 1001 need to gradually decelerate to avoid excessive movement of the first walking trolley 901 and the second walking trolley 1001. Specifically, the first preset speed can be set to any value between 50% and 80% of the full speed movement of the first walking trolley 901, so as to leave enough speed redundancy. The second preset speed can be set to any value between 50% and 80% of the full speed movement of the second walking trolley 1001, so as to leave enough speed redundancy.

[0066] In one embodiment, the first ratio is equal to the second ratio, the first ratio is the ratio of the first preset speed to the second preset speed, and the second ratio is the ratio of the first track length of the first walking trolley 901 to the second track length of the second walking trolley 1001. The third ratio is equal to the second ratio, and the third ratio is the ratio of the first preset acceleration to the second preset acceleration.

[0067] In this embodiment, the first preset speed and the second preset speed are limited, and the speed values ​​of the two are strongly related to the track length. The longer the track length, the faster the preset speed. Thus, the first trolley 901 can move in its corresponding first track at a suitable first preset speed, and the second trolley 1001 can move in its corresponding second track at a suitable second preset speed. The longer track runs at a faster speed, and the shorter track runs at a slower speed, so as to ensure that the first trolley 901 and the second trolley 1001 can both travel completely in the corresponding track.

[0068] Moreover, the first preset acceleration and the second preset acceleration are also strongly related to the track length, but the ratio of the preset accelerations is opposite: the longer the track, the smaller the acceleration, that is, the trolley gradually stops at a slower deceleration value; the shorter the track, the greater the acceleration, that is, the trolley gradually stops at a higher deceleration value. This ensures that the trolley can stop in time in a shorter track, and stop slowly in a longer track to improve the moving coverage of the trolley in the track, that is, to improve the balance adjustment ability of the counterweight block.

[0069] Specifically, the first rangefinder 11 and the second rangefinder 12 are both laser rangefinders.

[0070] Exemplary electronic devices are as follows:

[0071] Below, reference Figure 7 To describe an electronic device according to an embodiment of the present application. Figure 7 Shown is a schematic structural diagram of an electronic device provided in one embodiment of the present application.

[0072] like Figure 7 As shown, the electronic device 70 includes one or more processors 701 and a memory 702 .

[0073] The processor 701 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 70 to perform desired functions.

[0074] The memory 702 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, a random access memory (RAM) and / or a cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 701 may run the program instructions to implement the balance control method of each embodiment of the present application described above or other desired functions. Various contents such as error parameters may also be stored in the computer-readable storage medium.

[0075] In one example, the electronic device 70 may further include: an input device 703 and an output device 704 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0076] The input device 703 may include, for example, a keyboard, a mouse, a joystick, a touch screen, and the like.

[0077] The output device 704 can output various information to the outside, including the determined motion data, etc. The output device 704 can include, for example, a display, a communication network and a remote output device connected thereto, and the like.

[0078] Of course, to simplify, Figure 7 Only some of the components related to the present application in the electronic device 70 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application conditions, the electronic device 70 may also include any other appropriate components.

[0079] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the balance control method according to various embodiments of the present application described in this specification.

[0080] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0081] In addition, in one embodiment, the electronic device also includes a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the balance control method in various embodiments of the present application according to this specification.

[0082] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0083] The basic principles of the present application are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present application are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present application. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, not for limitation, and the above details do not limit the present application to being implemented by adopting the above specific details.

[0084] The block diagrams of the devices, apparatuses, equipment, and systems involved in this application are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0085] It should also be noted that in the apparatus, device and method of the present application, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present application.

[0086] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present application. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present application. Therefore, the present application is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features of the present invention.

[0087] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A balance control device for a cable car car detachable gripper, characterized in that: The detachable cable gripper comprises: A suspension beam (1) for mounting a cable car cabin, wherein a suspension arm (110) of the cable car cabin is connected to a connector (101) of the suspension beam (1), and a running wheel (18) and a balancing wheel (17) are respectively provided at two ends of the suspension beam (1); A clamping structure (2) connected to the suspension beam (1), the clamping structure (2) being configured to hold or release the steel wire rope; A support body (3) fixed on the suspension beam (1); A detection plate (4) is fixed at the left end of the support body (3), the detection plate (4) being provided with a swing shaft with rotational damping, the axial direction of the swing shaft being the same as the travel direction of the detachable gripper; A friction plate (5) rotatably connected to the swing shaft of the detection plate (4); and At least two shock absorbers (6), at least one shock absorber (6) being provided on each side of the swing shaft, and the shock absorbers (6) being connected to the detection plate (4) and the friction plate (5) respectively; The balance control device comprises: a swing detection mechanism, connected to the detection plate (4) and the friction plate (5) respectively, the swing detection mechanism being configured to detect a swing direction of the detection plate (4) relative to the friction plate (5); A first counterweight (9) is slidably connected to the bottom surface of the suspension beam (1) via a first walking trolley (901), wherein the sliding direction of the first counterweight (9) is parallel to the length direction of the suspension beam (1) and perpendicular to the axial direction of the swing shaft; a second counterweight (10) slidably connected to the bottom surface of the suspension beam (1) via a second walking trolley (1001); the sliding direction of the second counterweight (10) is parallel to the length direction of the suspension beam (1) and perpendicular to the axial direction of the swing shaft; a first slide rail of the first counterweight (9) and a second slide rail of the second counterweight (10) are respectively located on opposite sides of the connector (101); and A controller is respectively connected to the swing detection mechanism, the first walking trolley (901) and the second walking trolley (1001), and the controller is configured as follows: Obtaining the swing direction of the detection plate (4) relative to the friction plate (5); If the detection plate (4) swings counterclockwise relative to the friction plate (5), the second walking trolley (1001) is controlled to move in a direction away from the connector (101), and the first walking trolley (901) is controlled to move in a direction close to the connector (101); and If the detection plate (4) swings clockwise relative to the friction plate (5), the second walking trolley (1001) is controlled to move in a direction approaching the connector (101), and the first walking trolley (901) is controlled to move in a direction away from the connector (101).

2. The balance control device for the detachable gripper of a cable car car according to claim 1, characterized in that: The swing detection mechanism comprises: a first stress detector (7) disposed on the detection plate (4), wherein a force measuring end of the first stress detector (7) is connected to the friction plate (5) to detect a first stress value between the detection plate (4) and the friction plate (5) at the position of the first stress detector (7); and a second stress detector (8) disposed on the detection plate (4), wherein a force measuring end of the second stress detector (8) is connected to the friction plate (5) to detect a second stress value between the detection plate (4) and the friction plate (5) at the position of the second stress detector (8), wherein the first stress detector (7) and the second stress detector (8) are symmetrically located on both sides of the axial direction of the swing shaft; Wherein, the controller is configured as follows: obtaining the first stress value and the second stress value; If the first stress value is greater than the second stress value, controlling the second walking trolley (1001) to move in a direction close to the connector (101), and controlling the first walking trolley (901) to move in a direction away from the connector (101); and If the first stress value is smaller than the second stress value, the second walking trolley (1001) is controlled to move in a direction away from the connector (101), and the first walking trolley (901) is controlled to move in a direction close to the connector (101).

3. The balance control device for the detachable gripper of a cable car according to claim 1, characterized in that: The swing detection mechanism comprises: a first distance meter (11) disposed on the detection plate (4), the first distance meter (11) being configured to detect a first distance value between the detection plate (4) and the friction plate (5) at the position of the first distance meter (11); and a second distance meter (12) disposed on the detection plate (4), the second distance meter (12) being configured to detect a second distance value between the detection plate (4) and the friction plate (5) at the position of the second distance meter (12), the first distance meter (11) and the second distance meter (12) being symmetrically located on both sides of the axial direction of the swing shaft; Wherein, the controller is configured as follows: Acquire the first distance value and the second distance value; If the first distance value is smaller than the second distance value, controlling the second walking trolley (1001) to move in a direction close to the connector (101), and controlling the first walking trolley (901) to move in a direction away from the connector (101); and If the first distance value is greater than the second distance value, the second walking trolley (1001) is controlled to move in a direction away from the connector (101), and the first walking trolley (901) is controlled to move in a direction close to the connector (101).

4. The balance control device for the detachable gripper of a cable car according to claim 3, characterized in that: The first rangefinder (11) and the second rangefinder (12) are both laser rangefinders.

5. A balance control method for a detachable cable gripper of a cable car, characterized in that: Applicable to a balance control device; The detachable cable gripper comprises: A suspension beam (1) for mounting a cable car cabin, wherein a suspension arm (110) of the cable car cabin is connected to a connector (101) of the suspension beam (1), and a running wheel (18) and a balancing wheel (17) are respectively provided at two ends of the suspension beam (1); A clamping structure (2) connected to the suspension beam (1), the clamping structure (2) being configured to hold or release the steel wire rope; A support body (3) fixed on the suspension beam (1); A detection plate (4) is fixed at the left end of the support body (3), the detection plate (4) being provided with a swing shaft with rotational damping, the axial direction of the swing shaft being the same as the travel direction of the detachable gripper; A friction plate (5) rotatably connected to the swing shaft of the detection plate (4); and At least two shock absorbers (6), at least one shock absorber (6) being provided on each side of the swing shaft, and the shock absorbers (6) being connected to the detection plate (4) and the friction plate (5) respectively; The balance control device comprises: a swing detection mechanism, connected to the detection plate (4) and the friction plate (5) respectively, the swing detection mechanism being configured to detect a swing direction of the detection plate (4) relative to the friction plate (5); A first counterweight (9) is slidably connected to the bottom surface of the suspension beam (1) via a first walking trolley (901), wherein the sliding direction of the first counterweight (9) is parallel to the length direction of the suspension beam (1) and perpendicular to the axial direction of the swing shaft; A second counterweight (10) is slidably connected to the bottom surface of the suspension beam (1) via a second walking trolley (1001); the sliding direction of the second counterweight (10) is parallel to the length direction of the suspension beam (1) and perpendicular to the axial direction of the swing shaft; the first slide rail of the first counterweight (9) and the second slide rail of the second counterweight (10) are respectively located on opposite sides of the connector (101); Wherein, the balance control method comprises: Obtaining the swing direction of the detection plate (4) relative to the friction plate (5); If the detection plate (4) swings counterclockwise relative to the friction plate (5), the second walking trolley (1001) is controlled to move in a direction away from the connector (101), and the first walking trolley (901) is controlled to move in a direction close to the connector (101); and If the detection plate (4) swings clockwise relative to the friction plate (5), the second walking trolley (1001) is controlled to move in a direction approaching the connector (101), and the first walking trolley (901) is controlled to move in a direction away from the connector (101).

6. The balance control method of the detachable gripper of a cable car car according to claim 5, characterized in that: The swing detection mechanism comprises: a first stress detector (7) disposed on the detection plate (4), wherein a force measuring end of the first stress detector (7) is connected to the friction plate (5) to detect a first stress value between the detection plate (4) and the friction plate (5) at the position of the first stress detector (7); and a second stress detector (8) disposed on the detection plate (4), wherein a force measuring end of the second stress detector (8) is connected to the friction plate (5) to detect a second stress value between the detection plate (4) and the friction plate (5) at the position of the second stress detector (8), wherein the first stress detector (7) and the second stress detector (8) are symmetrically located on both sides of the axial direction of the swing shaft; Wherein, the balance control method further includes: obtaining the first stress value and the second stress value; If the first stress value is greater than the second stress value, controlling the second walking trolley (1001) to move in a direction close to the connector (101), and controlling the first walking trolley (901) to move in a direction away from the connector (101); and If the first stress value is smaller than the second stress value, the second walking trolley (1001) is controlled to move in a direction away from the connector (101), and the first walking trolley (901) is controlled to move in a direction close to the connector (101).

7. The balance control method of the detachable gripper of a cable car car according to claim 5, characterized in that: The swing detection mechanism comprises: a first distance meter (11) disposed on the detection plate (4), the first distance meter (11) being configured to detect a first distance value between the detection plate (4) and the friction plate (5) at the position of the first distance meter (11); and a second distance meter (12) disposed on the detection plate (4), the second distance meter (12) being configured to detect a second distance value between the detection plate (4) and the friction plate (5) at the position of the second distance meter (12), the first distance meter (11) and the second distance meter (12) being symmetrically located on both sides of the axial direction of the swing shaft; Wherein, the balance control method further includes: Acquire the first distance value and the second distance value; If the first distance value is smaller than the second distance value, controlling the second walking trolley (1001) to move in a direction close to the connector (101), and controlling the first walking trolley (901) to move in a direction away from the connector (101); and If the first distance value is greater than the second distance value, the second walking trolley (1001) is controlled to move in a direction away from the connector (101), and the first walking trolley (901) is controlled to move in a direction close to the connector (101).

8. The balance control method of the detachable gripper of a cable car car according to claim 7, characterized in that: Also includes: If the difference between the first distance value and the second distance value is greater than a preset difference, controlling the first walking trolley (901) to move at a constant first preset speed, and controlling the second walking trolley (1001) to move at a constant second preset speed; as well as If the difference between the first distance value and the second distance value is less than a preset difference, the first walking trolley (901) is controlled to move at a decelerated speed at a first preset acceleration, and the second walking trolley (1001) is controlled to move at a decelerated speed at a second preset acceleration.

9. The balance control method of the detachable gripper of a cable car car according to claim 8, characterized in that: The first ratio is equal to the second ratio, the first ratio being the ratio of the first preset speed to the second preset speed, and the second ratio being the ratio of the first track length of the first walking trolley (901) to the second track length of the second walking trolley (1001); The third ratio is equal to the second ratio, and the third ratio is a ratio of the second preset acceleration to the first preset acceleration.

10. The balance control method of the detachable gripper of a cable car car according to claim 9, characterized in that: The first rangefinder (11) and the second rangefinder (12) are both laser rangefinders.

Images