Cable car gripping device with speed feedback control and control method thereof

Abstract

The present application relates to the field of cable car transportation technology, and specifically to a cable car gripping device with speed feedback control and a control method thereof. When the present application is applied, when the cable car car runs outside the cableway station, the main gripping device and the speed control gripping device both hold the steel wire rope; when the cable car car runs into the station, the main gripping device releases the steel wire rope, and the speed control gripping device continues to hold the steel wire rope. When in the cableway station, the running speed of the cable car car is monitored in real time. When the speed of the cable car car at a certain position does not match the preset speed, speed compensation is performed through the speed control gripping device to achieve feedback control, so that the speed of the cable car car in the cableway station is more stable, so as to facilitate passengers to get on and off and ensure the safety of passengers to get on and off.

Description

Technical Field

[0001] The present application relates to the field of cable car transportation technology, and in particular to a cable car gripping device with speed feedback control and a control method thereof. Background Art

[0002] As an aerial transportation tool, the cable car system is widely used in mountainous areas, cities or tourist attractions to transport people or goods. The traditional cable car system is mainly a circulating detachable gripper cableway. When the cable car car enters the station, the detachable gripper cableway uses a reducer to disconnect the gripper from the carrying rope, which is convenient for passengers to get on and off the platform. After increasing the speed, it is reconnected with the carrying rope and runs out of the station. However, when the cable car car in this technology enters the station, the gripper needs to be detached from the wire rope and the gripper needs to be docked to the guide rail. These complex structures often lead to unstable speed of the cable car car, causing the car to shake, which not only affects the comfort of passengers, but also brings safety hazards.

[0003] In order to improve the safety and riding experience of cable car cars, it is necessary to develop a new technical solution to solve the problems of unstable speed and car shaking when entering the station. Summary of the invention

[0004] In view of this, the present application provides a cable car rope holding device with speed feedback control and a control method thereof, which can perform feedback control on the speed of the cable car car when the cable car car enters the cableway station, making the speed of the cable car car more stable and improving the safety of the cable car car and the riding experience.

[0005] In a first aspect, the present application provides a cable car gripping device with speed feedback control, comprising: a main gripping device connected to a cable car car, the main gripping device being used to clamp a steel wire rope outside a cableway station, and the main gripping device releasing the steel wire rope inside the cableway station; at least two speed control gripping devices, configured to always clamp the steel wire rope, the speed control gripping device comprising a speed compensation wheel with power, the speed compensation wheel being in contact with the steel wire rope to drive the speed control gripping device to slide on the steel wire rope, and the movement of the main gripping device At least one speed control grip is provided on each of the front and rear sides of the direction; a connecting component is connected to the speed control grip and the main grip respectively; and a controller is configured to: obtain the in-station speed of the cable car car in the cableway station, if the in-station speed is greater than a preset speed at the current position, control at least one of the speed control grips to drive the main grip to decelerate, if the in-station speed is less than the preset speed at the current position, control at least one of the speed control grips to drive the main grip to accelerate.

[0006] In combination with the first aspect, in a possible implementation, the speed control gripper includes: a base; a rope loop, which is arranged on the base, and the rope loop includes a holding area for holding the wire rope; a wheel seat, the speed compensation wheel is rotatably connected to the wheel seat, the speed compensation wheel is located below the holding area with the wheel surface facing upward, the wheel seat is elastically connected to the base, and the wheel seat is constructed to have an upward rebound force; and a drive motor, which is arranged on the wheel seat, and the output end of the drive motor is connected to the speed compensation wheel.

[0007] In combination with the first aspect, in a possible implementation, the speed control gripper further includes: a counterweight assembly connected to the bottom of the base.

[0008] In combination with the first aspect, in a possible implementation, the connection assembly includes: a connecting rod, which is movably connected to the speed control gripper and the main gripper respectively.

[0009] In combination with the first aspect, in a possible implementation, one end of the connecting rod is connected to the main rope grip through a first floating joint, and the other end of the connecting rod is connected to the speed control rope grip through a second floating joint.

[0010] In combination with the first aspect, in a possible implementation, it further includes: a connecting rope, one end of which is connected to the speed control gripper, and the other end of the connecting rope is connected to the boom on the top of the cable car car.

[0011] The present application also provides a control method for a cable car grip device with speed feedback control, which is applied to the aforementioned cable car grip device with speed feedback control, and the control method includes: obtaining the in-station speed of the cable car car in the cableway station; if the in-station speed is greater than a preset speed at a current position, controlling at least one of the speed control grips to drive the main grip to decelerate; if the in-station speed is less than a preset speed at the current position, controlling at least one of the speed control grips to drive the main grip to accelerate.

[0012] In combination with the second aspect, in a possible implementation, it further includes: if the current position of the cable car car is outside the cable car station, controlling the speed compensation wheel to switch to a ready state.

[0013] In combination with the second aspect, in a possible implementation, it further includes: if the distance between the cable car car and the cableway station is less than the preset distance, controlling the speed compensation wheel to start; and controlling the speed parameter of the speed compensation wheel to switch to the follow-up speed, so that the wheel surface linear speed of the speed compensation wheel matches the current movement speed of the cable car car; wherein, if the speed in the station is greater than the preset speed at the current position, controlling at least one of the speed control grippers to drive the main gripper to decelerate includes: if the speed in the station is greater than the preset speed at the current position, controlling the speed compensation wheel corresponding to the front of the main gripper to decelerate based on the follow-up speed, and controlling the speed compensation wheel corresponding to the rear of the main gripper to decelerate based on the follow-up speed; if the speed in the station is less than the preset speed at the current position, controlling at least one of the speed control grippers to drive the main gripper to accelerate includes: if the speed in the station is less than the preset speed at the current position, controlling the speed compensation wheel corresponding to the front of the main gripper to accelerate based on the follow-up speed, and controlling the speed compensation wheel corresponding to the rear of the main gripper to accelerate based on the follow-up speed.

[0014] In combination with the second aspect, in a possible implementation, it further includes: if the speed compensation wheel reaches the wire rope reel and the wheel seat sinks and shifts, the speed compensation wheel is controlled to switch to a ready state.

[0015] Compared with the existing invention, the beneficial effect of the present application is that: when the present application is applied, the main cable gripper and the speed control cable gripper both hold the steel wire rope when the cable car car runs outside the cableway station; when the cable car car runs into the station, the main cable gripper releases the steel wire rope, and the speed control cable gripper continues to hold the steel wire rope. When in the cableway station, the running speed of the cable car car is monitored in real time, and the running model of the cable car car in the cableway station is simulated in advance, so that the cable car car enters the cableway station with uniform deceleration and then runs at a uniform speed, and then uniformly accelerates out of the cableway station, and then the preset speed at each position is obtained. When the speed of the cable car car at a certain position does not match the preset speed, the speed control cable gripper is used to perform speed compensation to achieve feedback control, so that the speed of the cable car car in the cableway station is more stable, so as to facilitate passengers to get on and off and ensure the safety of passengers to get on and off. When the speed control grip is working, the speed compensation wheel rubs against the wire rope when rotating, thereby driving the entire speed control grip to slide relative to the wire rope, thereby driving the main grip to correct and compensate the running speed of the cable car car. When the main grip needs to be controlled to decelerate, the speed control grip in front of the main grip decelerates to impact the main grip from the front through the connecting assembly to decelerate, and the speed control grip behind the main grip decelerates to drag the main grip from the rear through the connecting assembly to decelerate; when the main grip needs to be controlled to accelerate, the speed control grip in front of the main grip accelerates to drag the main grip from the front through the connecting assembly to accelerate, and the speed control grip behind the main grip accelerates to impact the main grip from the rear through the connecting assembly to accelerate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic structural diagram of a cable car cable holding device with speed feedback control provided in one embodiment of the present application.

[0017] Figure 2 for Figure 1 Schematic diagram of some structures.

[0018] Figure 3 This is a schematic diagram of the structure when the speed control gripper reaches the wire rope reel.

[0019] Figure 4 It is a side cross-sectional view of the speed control gripper reaching the wire rope drum.

[0020] Figure 5 This is a side cross-sectional view of the speed control gripper after it leaves the wire rope drum.

[0021] Figure 6 The figure is a schematic diagram of the method steps of a control method of a cable car gripping device with speed feedback control provided by an embodiment of the present application.

[0022] Figure 7Shown is a schematic diagram of the control method steps when the cable car cabin is located outside the cableway station provided by another embodiment of the present application.

[0023] Figure 8 Shown is a schematic diagram of the steps of a control method provided by another embodiment of the present application when the distance between the cable car car and the cableway station is less than a preset distance.

[0024] Fig. 9 Shown is a schematic diagram of the control method steps when the speed compensation wheel reaches the wire rope reel provided by another embodiment of the present application. DETAILED DESCRIPTION

[0025] 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.

[0026] As an aerial transportation tool, the cable car system is widely used in mountainous areas, cities or tourist attractions to transport people or goods. The traditional cable car system is mainly a circulating detachable gripper cableway. When the cable car car enters the station, the detachable gripper cableway uses a reducer to disconnect the gripper from the carrying rope, which is convenient for passengers to get on and off the platform. After increasing the speed, it is reconnected with the carrying rope and runs out of the station. However, when the cable car car in this technology enters the station, the gripper needs to be detached from the wire rope and the gripper needs to be docked to the guide rail. These complex structures often lead to unstable speed of the cable car car, causing the car to shake, which not only affects the comfort of passengers, but also brings safety hazards.

[0027] In order to improve the safety and riding experience of cable car cars, it is necessary to develop a new technical solution to solve the problems of unstable speed and car shaking when entering the station.

[0028] In view of this, the present application provides a cable car rope holding device with speed feedback control and a control method thereof, which can perform feedback control on the speed of the cable car car when the cable car car enters the cableway station, making the speed of the cable car car more stable and improving the safety of the cable car car and the riding experience.

[0029] An exemplary cable car gripping device with speed feedback control is as follows:

[0030] Figure 1 Shown is a schematic structural diagram of a cable car cable holding device with speed feedback control provided in one embodiment of the present application. Figure 2 for Figure 1 Partial structural diagram. The present application provides a cable car gripping device with speed feedback control. In one embodiment, referring to Figure 1 and Figure 2 As shown, the cable car gripping device with speed feedback control includes: a main gripper 2, at least two speed control grippers 3, a connecting assembly and a controller. The main gripper 2 is connected to the cable car car 1. The main gripper 2 is used to clamp the wire rope outside the cableway station. The main gripper 2 releases the wire rope inside the cableway station. That is, the main gripper 2 of the present application has the same structure, function and use method as the traditional cable car gripper. The speed control gripper 3 is constructed to always clamp on the wire rope. The speed control gripper 3 includes a speed compensation wheel 301 with power. The speed compensation wheel 301 contacts the wire rope, so as to drive the speed control gripper 3 to slide on the wire rope. At least one speed control gripper 3 is arranged on both sides of the front and rear of the main gripper 2 in the direction of movement. The connecting assembly is connected to the speed control gripper 3 and the main gripper 2 respectively. The controller is configured to obtain the in-station speed of the cable car car 1 in the cableway station, and if the in-station speed is greater than the preset speed at the current position, control at least one speed control grip 3 to drive the main grip 2 to decelerate; if the in-station speed is less than the preset speed at the current position, control at least one speed control grip 3 to drive the main grip 2 to accelerate.

[0031] When this embodiment is applied, when the cable car car 1 runs outside the cableway station, the main rope gripper 2 and the speed control rope gripper 3 both hold the steel wire rope; when the cable car car 1 runs into the station, the main rope gripper 2 releases the steel wire rope, and the speed control rope gripper 3 continues to hold the steel wire rope. When inside the cableway station, the running speed of the cable car car 1 is monitored in real time, and the running model of the cable car car 1 in the cableway station is simulated in advance, so that the cable car car 1 decelerates uniformly into the cableway station and then runs at a uniform speed, and then accelerates uniformly out of the cableway station, and then the preset speed at each position is obtained. For example, the speed of the cable car car 1 when running outside the cableway station is 3m / s, and the running speed inside the cableway station is set to 1m / s, and the speed is set to 1.5m / s. 2The acceleration is uniformly accelerated and decelerated. When the speed of the cable car car 1 at a certain position does not match the preset speed, the speed control grip 3 is used to compensate for the speed, and feedback control is implemented to make the speed of the cable car car 1 in the cableway station more stable, so as to facilitate the passengers to get on and off and ensure the safety of the passengers. When the speed control grip 3 is working, the speed compensation wheel 301 rubs against the wire rope during rotation, thereby driving the entire speed control grip 3 to slip relative to the wire rope, thereby driving the main grip 2 to correct and compensate the running speed of the cable car car 1. When it is necessary to control the main grip 2 to decelerate, the speed control grip 3 in front of the main grip 2 is decelerated to impact the main grip 2 from the front through the connecting component to decelerate, and the speed control grip 3 behind the main grip 2 is decelerated to drag the main grip 2 from the rear through the connecting component to decelerate; when it is necessary to control the main grip 2 to accelerate, the speed control grip 3 in front of the main grip 2 is accelerated to drag the main grip 2 from the front through the connecting component to accelerate, and the speed control grip 3 behind the main grip 2 is accelerated to impact the main grip 2 from the rear through the connecting component to accelerate.

[0032] In one embodiment, referring to Figure 1 and Figure 2 As shown, the speed control gripper 3 includes a base 310, a rope loop 302, a wheel seat 303 and a drive motor 304. The rope loop 302 is arranged on the base 310, and the rope loop 302 is in the shape of a cover. The rope loop 302 includes a holding area for holding on the wire rope, that is, the holding area of ​​the rope loop 302 in the shape of a cover is held on the wire rope. The speed compensation wheel 301 is rotatably connected to the wheel seat 303, the speed compensation wheel 301 is located below the holding area and the wheel face is facing upward, the wheel seat 303 is elastically connected to the base 310, and the wheel seat 303 is configured to have an upward resilience. The drive motor 304 is arranged on the wheel seat 303, and the output end of the drive motor 304 is connected to the speed compensation wheel 301.

[0033] When this embodiment is used, the upward resilience of the wheel seat 303 can clamp the wire rope between the rope loop 302 and the speed compensation wheel 301, so that the speed compensation wheel 301 can exert sufficient stress on the wire rope to rub the wire rope, so that the entire speed control grip 3 can slide on the wire rope, thereby driving the main grip 2 to perform speed feedback correction. The elastically connected wheel seat 303 can float up and down relative to the rope loop 302.

[0034] Figure 3 This is a schematic diagram of the structure when the speed control gripper reaches the wire rope reel. Figure 4 It is a side cross-sectional view of the speed control gripper reaching the wire rope drum. Figure 5 This is a side cross-sectional view of the speed control gripper after it leaves the wire rope drum. Figure 3 , Figure 4 As shown, when the speed control gripper 3 moves to the wire rope drum 6, the speed compensation wheel 301 contacts the lower convex edge 601 of the wire rope drum 6, and because the speed compensation wheel 301 turns forward, the entire wheel seat 303 begins to sink, and the speed compensation wheel 301 sinks to the bottom of the lower convex edge 601 of the drum and rolls. At this time, the rope loop 302 continues to hold the wire rope 10, but the rope loop 302 can slide relative to the wire rope 10. At this time, the entire speed control gripper 3 and the cable car car 1 follow the movement, and the sliding friction between the rope loop 302 and the wire rope 10 can exert a certain drag force on the cable car car 1, further stabilizing the speed of the cable car car 1. Figure 5 After the speed control gripper 3 leaves the wire rope drum 6, the wheel seat 303 rebounds upward under the action of the elastic connecting member 305, and the speed compensation wheel 301 contacts the wire rope 10 again. The elastic connecting member 305 can be a rebound buffer, a spring rod, etc.

[0035] After the entire cable car 1 enters the cableway station, the main gripper 2 is separated from the wire rope, and the speed compensation wheel 301 first performs feedback control on the speed of the cable car 1 to stabilize the speed of the cable car 1. After the speed control gripper 3 reaches the wire rope drum 6, the speed compensation wheel 301 sinks, and the speed control gripper 3 and the cable car 1 follow, and the speed of the cable car 1 controls the speed of the main speed control gripper 3. However, at this time, the sliding friction between the rope loop 302 and the wire rope 10 can exert a certain drag force on the cable car 1. Therefore, when reaching the wire rope drum 6, the rope loop 302 can stabilize the speed of the cable car 1 through the drag force.

[0036] In one embodiment, the speed control grip 3 further comprises a counterweight assembly, which is connected to the bottom of the base 310, so as to press the entire speed control grip 3 downward, so that the rope loop 302 can hold the wire rope more stably.

[0037] In one embodiment, if Figure 1 As shown, the connection assembly includes a connecting rod 4, and the connecting rod 4 is movably connected to the speed control grip 3 and the main grip 2, respectively, so that the speed control grip 3 and the main grip 2 can have a certain relative displacement freedom, so that when the main grip 2 is separated from the wire rope, it does not affect the speed control grip 3 to continue to run on the wire rope. Specifically, one end of the connecting rod 4 is connected to the main grip 2 through a first floating joint, and the other end of the connecting rod 4 is connected to the speed control grip 3 through a second floating joint.

[0038] In one embodiment, if Figure 1As shown, the cable car gripping device with speed feedback control also includes a connecting rope 5, one end of the connecting rope 5 is connected to the speed control gripping device 3, and the other end of the connecting rope 5 is connected to the boom 101 on the top of the cable car car 1, which can further play a protective role and prevent the speed control gripping device 3 from falling when it is separated from the wire rope and the connecting rod 4 is damaged.

[0039] An exemplary control method of a cable car gripping device with speed feedback control is as follows:

[0040] Figure 6 The figure shows a method step diagram of a control method of a cable car gripping device with speed feedback control provided by an embodiment of the present application. The present application also provides a control method of a cable car gripping device with speed feedback control. In one embodiment, Figure 6 As shown, the method includes:

[0041] Step 601: Obtain the in-station speed of the cable car car 1 in the cableway station.

[0042] In this step, a speed sensor may be installed on the cable car car 1 to detect the real-time running speed of the cable car car 1 .

[0043] Determine whether the speed in the station is greater than the preset speed at the current position. If the determination result is yes, execute step 602, if not, execute step 603.

[0044] Step 602: Control at least one speed control gripper 3 to drive the main gripper 2 to decelerate.

[0045] Step 603: Control at least one speed control gripper 3 to drive the main gripper 2 to accelerate.

[0046] In this embodiment, the operation model of the cable car car 1 in the cableway station is simulated in advance, so that the cable car car 1 decelerates uniformly into the cableway station and then runs at a uniform speed, and then accelerates uniformly out of the cableway station, and then the preset speed at each position is obtained. For example, the speed of the cable car car 1 when running outside the cableway station is 3m / s, the speed inside the cableway station is set to 1m / s, and the speed is set to 1.5m / s 2The acceleration is uniformly accelerated and decelerated. When the speed of the cable car car 1 at a certain position does not match the preset speed, the speed control grip 3 is used to compensate for the speed, and feedback control is implemented to make the speed of the cable car car 1 in the cableway station more stable, so as to facilitate the passengers to get on and off and ensure the safety of the passengers. When the speed control grip 3 is working, the speed compensation wheel 301 rubs against the wire rope during rotation, thereby driving the entire speed control grip 3 to slip relative to the wire rope, thereby driving the main grip 2 to correct and compensate the running speed of the cable car car 1. When it is necessary to control the main grip 2 to decelerate, the speed control grip 3 in front of the main grip 2 is decelerated to impact the main grip 2 from the front through the connecting component to decelerate, and the speed control grip 3 behind the main grip 2 is decelerated to drag the main grip 2 from the rear through the connecting component to decelerate; when it is necessary to control the main grip 2 to accelerate, the speed control grip 3 in front of the main grip 2 is accelerated to drag the main grip 2 from the front through the connecting component to accelerate, and the speed control grip 3 behind the main grip 2 is accelerated to impact the main grip 2 from the rear through the connecting component to accelerate.

[0047] Figure 7 FIG. 2 is a schematic diagram of the control method steps when the cable car cabin is located outside the cable car station provided by another embodiment of the present application. Figure 7 As shown, the control method also includes:

[0048] Determine whether the current position of cable car car 1 is outside the cable car station. If so, execute:

[0049] Step 604: Control the speed compensation wheel 301 to switch to a ready state.

[0050] In this embodiment, the ready state is a stall state or an idling state. In this embodiment, the speed compensation wheel 301 does not need power intervention, which can save energy. The idling state allows the speed compensation wheel 301 to intervene in the work at any time.

[0051] Figure 8 FIG. 2 is a schematic diagram of the control method steps when the distance between the cable car cabin and the cableway station is less than a preset distance provided by another embodiment of the present application. Figure 8 As shown, the control method also includes:

[0052] Determine whether the distance between cable car cabin 1 and the cableway station is less than the preset distance. If so, execute:

[0053] Step 605: Control the speed compensation wheel 301 to start.

[0054] Step 606: Control the speed parameter of the speed compensation wheel 301 to switch to the follow-up speed, so that the wheel surface linear speed of the speed compensation wheel 301 matches the current running speed of the wire rope.

[0055] Here, it is determined again whether the speed in the station is greater than the preset speed at the current position. If so, step 6021 is executed, and if not, step 6031 is executed.

[0056] Step 6021, control the speed compensation wheel 301 corresponding to the front of the main rope gripper 2 to perform deceleration based on the follow-up speed, and control the speed compensation wheel 301 corresponding to the rear of the main rope gripper 2 to perform deceleration based on the follow-up speed.

[0057] Step 6031, control the speed compensation wheel 301 corresponding to the front of the main rope gripper 2 to accelerate based on the follow-up speed, and control the speed compensation wheel 301 corresponding to the rear of the main rope gripper 2 to accelerate based on the follow-up speed.

[0058] In this embodiment, when the cable car car 1 is located in the cableway station, since the running speed of the steel wire rope is actually greater than the running speed of the cable car car 1, step 606 needs to be executed to make the speed compensation wheel 301 and the steel wire rope have the same speed. At this time, the speed of the rope loop 302 is slower than the steel wire rope, and relative friction is generated between the steel wire rope and the rope loop 302. This relative friction can play a buffering and stabilizing role in the speed of the cable car car 1; at this time, the speed compensation wheel 301 and the steel wire rope operate in coordination, and there is no relative movement trend. When it is necessary to execute the speed control gripper 3 to drive the main gripper 2 to decelerate, the speed compensation wheel 301 performs deceleration based on the follow-up speed. At this time, there is a backward relative movement trend between the speed compensation wheel 301 and the steel wire rope, so that the speed control gripper 3 can drive the main gripper 2 to perform drag-type deceleration. When it is necessary to execute the speed control gripper 3 to drive the main gripper 2 to accelerate, the speed compensation wheel 301 performs acceleration based on the follow-up speed. At this time, there is a forward relative movement trend between the speed compensation wheel 301 and the wire rope, so that the speed control gripper 3 can drive the main gripper 2 to perform dragging acceleration.

[0059] Fig. 9 FIG. 1 is a schematic diagram of the control method steps when the speed compensation wheel reaches the wire rope reel provided by another embodiment of the present application. Fig. 9 As shown, the control method also includes:

[0060] Determine whether the speed compensation wheel 301 reaches the wire rope reel 6 and the wheel seat 303 sinks and shifts. If so, execute:

[0061] Step 607: Control the speed compensation wheel 301 to switch to a ready state.

[0062] In this embodiment, the ready state is a stop state or an idle state. When in use, after reaching the wire rope reel 6, the speed compensation wheel 301 runs under the lower convex edge 601 of the disc body, and may not output power. The stop state can save energy. In the idle state, it can run in a follow-up state, and the lower convex edge 601 of the disc body rubs the speed compensation wheel 301 to rotate. The idle state allows the speed compensation wheel 301 to intervene in the work at any time.

[0063] Compared with the existing invention, the beneficial effect of the present application is that: when the present application is applied, the running speed of the cable car car is monitored in real time, and the running model of the cable car car in the cableway station is simulated in advance, so that the cable car car enters the cableway station after uniform deceleration and runs at a uniform speed, and then uniformly accelerates to drive out of the cableway station, and then the preset speed at each position is obtained. When the speed of the cable car car at a certain position does not match the preset speed, the speed control gripper is used to perform speed compensation to achieve feedback control, so that the speed of the cable car car in the cableway station is more stable, so as to facilitate passengers to get on and off and ensure the safety of passengers to get on and off. When the speed control gripper is working, the speed compensation wheel rubs against the wire rope when rotating, thereby driving the entire speed control gripper to slip relative to the wire rope, and then driving the main gripper to correct and compensate the running speed of the cable car car. When it is necessary to control the main grip to decelerate, the speed control grip in front of the main grip decelerates so as to impact the main grip from the front through the connecting component to decelerate, and the speed control grip behind the main grip decelerates so as to drag the main grip from the rear through the connecting component to decelerate; when it is necessary to control the main grip to accelerate, the speed control grip in front of the main grip accelerates so as to drag the main grip from the front through the connecting component to accelerate, and the speed control grip behind the main grip accelerates so as to impact the main grip from the rear through the connecting component to accelerate.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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 cable car gripping device with speed feedback control, characterized in that: include: A main rope gripper (2) connected to the cable car car (1), the main rope gripper (2) being used to clamp the steel wire rope outside the cableway station, and the main rope gripper (2) releasing the steel wire rope inside the cableway station; at least two speed control grippers (3) configured to always clamp on the steel wire rope, the speed control grippers (3) comprising a powered speed compensation wheel (301), the speed compensation wheel (301) being in contact with the steel wire rope to drive the speed control grippers (3) to slide on the steel wire rope, at least one speed control gripper (3) being arranged on each of the front and rear sides of the moving direction of the main gripper (2); A connecting component connected to the speed control gripper (3) and the main gripper (2) respectively; as well as The controller is configured to: obtain the in-station speed of the cable car car (1) in the cableway station, and if the in-station speed is greater than a preset speed at a current position, control at least one of the speed control grips (3) to drive the main grip (2) to decelerate; if the in-station speed is less than the preset speed at the current position, control at least one of the speed control grips (3) to drive the main grip (2) to accelerate; The speed control gripper (3) comprises: Base (310); A rope loop (302) is arranged on the base (310), and the rope loop (302) comprises a gripping area for gripping the steel wire rope; a wheel seat (303), the speed compensation wheel (301) being rotatably connected to the wheel seat (303), the speed compensation wheel (301) being located below the gripping area with the wheel surface facing upward, the wheel seat (303) being elastically connected to the base (310), and the wheel seat (303) being configured to have an upward resilience force; as well as A driving motor (304) is arranged on the wheel seat (303), and an output end of the driving motor (304) is connected to the speed compensation wheel (301).

2. The cable car gripping device with speed feedback control according to claim 1, characterized in that: The speed control gripper (3) further comprises: A counterweight assembly is connected to the bottom of the base (310).

3. The cable car gripping device with speed feedback control according to claim 1, characterized in that: The connection component comprises: The connecting rod (4) is movably connected to the speed control cable gripper (3) and the main cable gripper (2) respectively.

4. The cable car gripping device with speed feedback control according to claim 3, characterized in that: One end of the connecting rod (4) is connected to the main rope gripper (2) via a first floating joint, and the other end of the connecting rod (4) is connected to the speed control rope gripper (3) via a second floating joint.

5. The cable car gripping device with speed feedback control according to claim 4, characterized in that: Also includes: A connecting rope (5) has one end connected to the speed control gripper (3), and the other end of the connecting rope (5) is connected to a boom (101) at the top of the cable car car (1).

6. A control method for a cable car gripping device with speed feedback control, characterized in that: The cable car gripping device with speed feedback control according to claim 1, wherein the control method comprises: Obtaining the in-station speed of the cable car car (1) in the cableway station; If the speed in the station is greater than a preset speed at the current position, controlling at least one of the speed control grippers (3) to drive the main gripper (2) to decelerate; If the speed within the station is less than a preset speed at the current position, at least one of the speed control grippers (3) is controlled to drive the main gripper (2) to accelerate.

7. The control method of the cable car gripping device with speed feedback control according to claim 6, characterized in that: Also includes: If the current position of the cable car car (1) is outside the cableway station, the speed compensation wheel (301) is controlled to switch to a ready state.

8. The control method of the cable car gripping device with speed feedback control according to claim 7, characterized in that: Also includes: If the distance between the cable car car (1) and the cableway station is less than a preset distance, controlling the speed compensation wheel (301) to start; as well as Controlling the speed parameter of the speed compensation wheel (301) to switch to a follow-up speed, so that the wheel surface linear speed of the speed compensation wheel (301) matches the current movement speed of the cable car car (1); Wherein, if the speed in the station is greater than a preset speed at the current position, controlling at least one of the speed control grippers (3) to drive the main gripper (2) to decelerate comprises: If the speed in the station is greater than the preset speed at the current position, the speed compensation wheel (301) corresponding to the front of the main rope gripper (2) is controlled to decelerate based on the follow-up speed, and the speed compensation wheel (301) corresponding to the rear of the main rope gripper (2) is controlled to decelerate based on the follow-up speed; If the speed in the station is less than a preset speed at the current position, controlling at least one of the speed control grippers (3) to drive the main gripper (2) to accelerate comprises: If the speed in the station is less than the preset speed at the current position, the speed compensation wheel (301) corresponding to the front of the main rope gripper (2) is controlled to accelerate based on the follow-up speed, and the speed compensation wheel (301) corresponding to the rear of the main rope gripper (2) is controlled to accelerate based on the follow-up speed.

9. The control method of the cable car gripping device with speed feedback control according to claim 6, characterized in that: Also includes: If the speed compensation wheel (301) reaches the wire rope reel (6) and the wheel seat (303) sinks and shifts, the speed compensation wheel (301) is controlled to switch to a ready state.

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