A collaborative rope changing method based on the same rope changing vehicle and clamping and conveying unit

Abstract

This invention discloses a method for collaborative rope changing using clamping and conveying units on the same rope changing vehicle. The rope changing vehicle includes at least two clamping and conveying units, I and II, arranged side-by-side. A redirecting conveying device redirects the wire rope output from either clamping and conveying unit I or II on the same rope changing vehicle before feeding it back into clamping and conveying unit I or II for clamping and conveying. The redirecting conveying device includes a rear redirecting conveying section and a front guiding section. The rear redirecting conveying section includes a chassis, a lifting mechanism, and a redirecting conveying platform. The front guiding section includes a front guide wheel that can be mounted on the front end of the rope changing vehicle via a support frame. By synchronously controlling clamping and conveying units I and II to perform clamping and conveying actions in opposite directions, the frictional conveying force of the same rope changing vehicle is increased. This invention can reduce rope changing costs while achieving a significant increase in the frictional conveying force of the same rope changing vehicle.

Description

Technical Field

[0001] This invention relates to a method for replacing wire ropes in a mine hoisting system based on a rope-changing vehicle, specifically a method for collaborative rope replacement using a clamping and conveying unit on the same rope-changing vehicle, belonging to the field of wire rope replacement technology for mine hoisting systems. Background Technology

[0002] A mine hoisting system refers to a system that transports ore, coal, waste rock, or gangue along a mine shaft, as well as hoisting personnel, equipment, and materials. The most widely used mine hoisting system is the wire rope mine hoisting system, which uses wire ropes to move a hoisting container along the shaft or inclined ramp. In my country, the commonly used wire rope mine hoisting systems are mainly single-rope winding type and multi-rope friction type.

[0003] Wire rope is a crucial component of wire rope mine hoisting systems, playing a vital role in ensuring safe hoisting in mines. The "Coal Mine Safety Regulations" stipulate strict regulations regarding the service life and replacement cycle of wire ropes. For wire rope mine hoisting systems, especially multi-rope friction hoisting systems, wire rope replacement is a high-risk, accident-prone, labor-intensive, and time-consuming operation. The application of wire rope replacement technology using rope changing machines has significantly improved the efficiency and safety of wire rope replacement in mine hoisting systems, overcoming the time-consuming, manpower-intensive, and safety-hazardous conditions associated with traditional equipment.

[0004] To maintain a stable tension in the original head rope of the mine hoisting system, the rope changing machine typically has the function of simultaneously releasing the new rope and retrieving the old rope. That is, the rope changing machine usually has at least two clamping and conveying units arranged side-by-side, one for releasing the new rope and the other for retrieving the old rope. However, due to the length limitations of the clamping and conveying units, the frictional conveying force of these units is generally less than 15 tons. For modern mines with large rope diameters and ultra-deep shafts, the weight of the wire rope often exceeds the frictional conveying force of the clamping and conveying units of the rope changing machine. This makes the traditional process of using a single rope changing machine for rope changing impossible. Existing technologies utilize multiple rope changing machines working collaboratively. However, collaborative operation with multiple rope changing machines not only faces challenges in accurately controlling the synchronization of the machines, involving key technologies such as collaborative control algorithms, communication protocols, and tension closed-loop control that require customized development based on specific needs, but also requires high site requirements, a large number of personnel, significant operational difficulty, and high rope changing costs. Summary of the Invention

[0005] To address the problems existing in the prior art, the present invention provides a method for coordinated rope changing based on the same rope changing vehicle and clamping and conveying unit, which can reduce rope changing costs while achieving a multiple increase in the frictional conveying force of the same rope changing vehicle.

[0006] To achieve the above objectives, this method of coordinated rope changing based on the clamping and conveying units of the same rope changing vehicle uses a reversing conveying device to redirect the steel wire rope output by clamping and conveying unit I of the same rope changing vehicle and send it into clamping and conveying unit II for clamping and conveying. The clamping and conveying units I and II are simultaneously controlled to perform clamping and conveying actions in opposite directions, thereby increasing the frictional conveying force of the same rope changing vehicle.

[0007] The redirecting conveyor includes a rear redirecting conveyor section and a front guide section;

[0008] The rear redirection conveying section includes a chassis, a lifting mechanism, and a redirection conveying platform. The redirection conveying platform is mounted on the chassis via the lifting mechanism. The front end of the redirection conveying platform is also equipped with a rope changing car positioning and connection mechanism. Inside the redirection conveying platform is a redirection conveying mechanism for redirecting the wire rope output from the clamping conveying unit I or clamping conveying unit II of the same rope changing car and sending it back into clamping conveying unit II or clamping conveying unit I.

[0009] The front guide section includes a front guide wheel that can be mounted on the front of the rope changing vehicle via a support frame. The front guide wheel is positioned in front of the clamping and conveying unit.

[0010] As a further improvement of the present invention, before the rope changing operation, the height of the redirection conveying platform is adjusted to correspond with the conveying height of the clamping conveying unit by controlling the lifting mechanism. Then, the entire rear redirection conveying part is fixedly connected to the rear end of the rope changing car through the rope changing car positioning connection mechanism, and the front guide part is correspondingly installed at the front end of the rope changing car.

[0011] When collecting old rope, the old rope is redirected by the front guide wheel of the rope changing car and fed into the front end of the clamping and conveying unit I of the rope changing car. The clamping and conveying unit I of the rope changing car is driven to perform a forward clamping and conveying action, so that the old rope end is output from the rear end of the clamping and conveying unit I. After the old rope is redirected by the redirecting conveying mechanism of the redirecting conveying platform, the old rope end is fed into the rear end of the clamping and conveying unit II. The clamping and conveying unit I of the rope changing car is driven to perform a forward clamping and conveying action, while the clamping and conveying unit II is driven to perform a reverse clamping and conveying action, so that the old rope end is output from the front end of the clamping and conveying unit II. Then the old rope end is passed around the front guide wheel and led out to the rope collecting winch to collect the old rope.

[0012] When sending a new rope, the new rope released by the rope release winch is passed around the front guide wheel and sent to the front end of the clamping and conveying unit II. The clamping and conveying unit II of the rope changing car is driven to perform a forward clamping and conveying action, so that the new rope head is output from the rear end of the clamping and conveying unit II. After the new rope is redirected by the redirecting conveying mechanism of the redirecting conveying platform, the new rope head is sent to the rear end of the clamping and conveying unit I. The clamping and conveying unit II of the rope changing car is driven to perform a forward clamping and conveying action, while the clamping and conveying unit I is driven to perform a reverse clamping and conveying action, so that the new rope head is output from the front end of the clamping and conveying unit I. Then the new rope head is passed around the front guide wheel of the rope changing car and redirected before being sent into the wellhead.

[0013] As one embodiment of the redirecting conveying mechanism of the present invention, the redirecting conveying mechanism is a chain conveying structure, including a conveying support guide rail and a conveying chain. The conveying support guide rail, which is positioned and installed on the redirecting conveying platform, includes at least an arc-shaped guide rail with an overall superior arc shape. The superior arc opening of the arc-shaped guide rail faces directly forward, and the arc-shaped guide rail is symmetrical about left and right relative to the redirecting conveying platform. The conveying chain, which is connected end to end in a closed loop structure, is sleeved on the conveying support guide rail. The links of the conveying chain are load-bearing link structures, including a load-bearing body that cooperates with the wire rope. The conveying chain tensioning mechanism is also provided inside or outside the closed loop structure of the conveying chain. The conveying chain tensioning mechanism includes a tensioning wheel and a tensioning telescopic drive component. The body end of the tensioning telescopic drive component is fixedly installed and connected to the redirecting conveying platform, and the telescopic end of the tensioning telescopic drive component is rolled and installed and connected to the tensioning wheel, with the tensioning wheel abutting against the conveying chain.

[0014] As a further improvement of the present invention, the arc-shaped guide rail for conveying support rail is a multi-segment structure comprising multiple arc segments, and the arc segments are connected to the variable diameter control mechanism.

[0015] As a further improvement of the present invention, the tension wheel is a sprocket structure that cooperates with the conveyor chain, and the tension wheel is provided with a tension wheel rotation drive mechanism;

[0016] The tensioning wheel can be controlled to actively rotate and drive the conveyor chain by controlling the rotation drive mechanism, or the tensioning wheel can be controlled to perform damping braking by controlling the rotation drive mechanism.

[0017] As another embodiment of the redirecting conveying mechanism of the present invention, the redirecting conveying mechanism is a wheel-type conveying structure, including a redirecting conveying wheel that is symmetrical about left and right relative to the redirecting conveying platform, and a guide conveying groove that cooperates with the wire rope is provided on the rim of the redirecting conveying wheel.

[0018] As a further improvement of the present invention, the redirecting conveyor wheel is provided with a redirecting conveyor wheel rotation drive mechanism;

[0019] By controlling the rotation drive mechanism of the redirecting conveyor wheel, the redirecting conveyor wheel can be controlled to actively rotate and drive the wire rope, or the redirecting conveyor wheel can be controlled to perform damping braking.

[0020] As a further improvement of the present invention, the redirection conveying mechanism of the redirection conveying platform also includes a redirection wheel correspondingly disposed between the conveying support guide rail and the rope changing car positioning connection mechanism.

[0021] As a further improvement of the present invention, the angle between the axis of the front guide wheel and the vertical plane is 15° to 75°.

[0022] As a further improvement of the present invention, the chassis is a walking chassis including walking drive wheels.

[0023] Compared with existing technologies, this method of coordinated rope changing based on the clamping and conveying units of the same rope changing vehicle uses a redirecting conveying device to redirect the wire rope output by clamping and conveying unit I (or clamping and conveying unit II) of the same rope changing vehicle and then send it into clamping and conveying unit II (or clamping and conveying unit I) for clamping and conveying. By synchronously controlling clamping and conveying unit I and clamping and conveying unit II to perform clamping and conveying actions in opposite directions, the frictional conveying force of the same rope changing vehicle can be multiplied during rope changing operations, thereby reducing rope changing costs. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the structure of the rear-direction conveying section of the present invention;

[0025] Figure 2 This is a top view of the reversing conveyor device of the present invention installed on the rope changing car;

[0026] Figure 3 This is a schematic diagram of the rear redirection conveying section when the tension wheel of the present invention adopts a sprocket structure;

[0027] Figure 4 This is a top view of the tensioning wheel of the present invention, which adopts a sprocket structure and is installed on a rope changing cart;

[0028] Figure 5 yes Figure 2 AA sectional view.

[0029] In the diagram: 1. Chassis, 2. Lifting mechanism, 3. Redirecting conveyor platform, 31. Conveying support rail, 32. Conveying chain, 321. Carrier, 33. Conveying chain tensioning mechanism, 331. Tensioning wheel, 332. Tensioning wheel rotation drive mechanism, 34. Redirecting wheel, 4. Rope changing cart positioning and connecting mechanism, 5. Front guide wheel. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings (the end of the clamping and conveying unit near the wellhead is referred to as the front, and the end of the clamping and conveying unit away from the wellhead is referred to as the rear).

[0031] The rope changing car includes at least a clamping and conveying unit I and a clamping and conveying unit II arranged side by side. This rope changing method based on the coordinated rope changing of the clamping and conveying units of the same rope changing car uses a redirecting conveying device to redirect the wire rope output by the clamping and conveying unit I of the same rope changing car and send it into the clamping and conveying unit II for clamping and conveying. This achieves a multiple increase in the frictional conveying force of the same rope changing car, thereby reducing the cost of rope changing.

[0032] The redirecting conveyor includes a rear redirecting conveyor section and a front guiding section.

[0033] like Figure 1 , Figure 3 As shown, the rear redirection conveying section includes a chassis 1, a lifting mechanism 2, and a redirection conveying platform 3. The redirection conveying platform 3 is mounted on the chassis 1 via the lifting mechanism 2. The lifting mechanism 2 can be a scissor-type lifting structure including a telescopic cylinder arranged in the front-to-back direction, as shown in the figure; a guide lifting structure including a telescopic cylinder arranged in the vertical direction; or a mechanical lifting structure including a gear and rack transmission; or other lifting structures including a linear reciprocating motion mechanism. The front end of the redirection conveying platform 3 is also provided with a rope changing car positioning connection mechanism 4 for positioning connection with the rope changing car. The rope changing car positioning connection mechanism 4 can be a connection structure including a positioning pin and a positioning hole; or a connection structure including a positioning buckle; or other quick positioning connection structures.

[0034] The redirecting conveyor platform 3 is equipped with a redirecting conveyor mechanism for redirecting the wire rope output from clamping conveyor unit I or clamping conveyor unit II of the same rope changing car and sending it into clamping conveyor unit II or clamping conveyor unit I.

[0035] The front guide section includes a front guide wheel 5 that can be mounted on the front of the rope changing vehicle via a support frame. The front guide wheel 5 is positioned in front of the clamping and conveying unit.

[0036] like Figure 2 , Figure 4 As shown, as one embodiment of the redirecting conveyor mechanism, the redirecting conveyor mechanism can be a chain conveyor structure, including a conveyor support rail 31 and a conveyor chain 32. The conveyor support rail 31, positioned and installed on the redirecting conveyor platform 3, includes at least an arc-shaped rail with an overall superior arc shape. The superior arc opening of the arc-shaped rail faces directly forward, and the arc-shaped rail is symmetrical about the left and right sides relative to the redirecting conveyor platform 3. The conveyor chain 32, with its ends connected in a closed loop structure, is sleeved on the conveyor support rail 31. The links of the conveyor chain 32 are load-bearing links, such as... Figure 5As shown, the links of the conveyor chain 32 include a carrier 321 that cooperates with the wire rope. The closed-loop structure of the conveyor chain 32 is also provided with a conveyor chain tensioning mechanism 33 for tensioning the conveyor chain 32. The conveyor chain tensioning mechanism 33 includes a tensioning wheel 331 and a tensioning telescopic drive component. The main body end of the tensioning telescopic drive component is fixedly connected to the redirecting conveyor platform 3. The telescopic end of the tensioning telescopic drive component is rolled and connected to the tensioning wheel 331, and the tensioning wheel 331 abuts against the conveyor chain 32.

[0037] To achieve versatility for steel wire ropes with different outer diameters and toughnesses, as a further improvement of the present invention, the arc-shaped guide rail of the conveying support rail 31 is a multi-segment structure comprising multiple arc segments, which are connected by a diameter-changing control mechanism. The diameter-changing control mechanism can be a manual control structure comprising positioning holes arranged in the radial direction of the conveying support rail 31 and positioning pins arranged in cooperation on the arc segments. The overall diameter of the conveying support rail 31 is changed by positioning the arc segments in different positioning holes. Alternatively, the diameter-changing control mechanism can be an automatic control structure comprising a telescopic cylinder that reciprocates linearly in the radial direction of the conveying support rail 31. The overall diameter of the conveying support rail 31 is changed by controlling the extension and retraction of the telescopic cylinder.

[0038] To achieve better redirection and conveying effects, as a further improvement of the present invention, the tension wheel 331 is a sprocket structure that cooperates with the conveyor chain 32, and the tension wheel 331 is provided with a tension wheel rotation drive mechanism 332. By controlling the action of the tension wheel rotation drive mechanism 332, the tension wheel 331 can be controlled to rotate actively, thereby actively driving the conveyor chain 32, or the tension wheel 331 can be controlled to perform damping braking by controlling the action of the tension wheel rotation drive mechanism 332, thereby increasing the frictional conveying force.

[0039] As another implementation of the redirection conveying mechanism, the redirection conveying mechanism can also be a wheel-type conveying structure, including a redirection conveying wheel that is symmetrical about the left and right sides of the redirection conveying platform (3), and a guide conveying groove that cooperates with the wire rope is provided on the rim of the redirection conveying wheel.

[0040] To achieve better redirection and conveying effects, as a further improvement of the present invention, the redirection conveying wheel is provided with a redirection conveying wheel rotation drive mechanism. By controlling the operation of the redirection conveying wheel rotation drive mechanism, the redirection conveying wheel can be controlled to rotate actively, thereby actively driving the wire rope. Alternatively, by controlling the operation of the redirection conveying wheel rotation drive mechanism, the redirection conveying wheel can be controlled to perform damping braking, thereby increasing the frictional conveying force.

[0041] To facilitate the accurate guidance and feeding of the wire rope end delivered by clamping and conveying unit I (or clamping and conveying unit II) into clamping and conveying unit II (or clamping and conveying unit I), as a further improvement of the present invention, the redirecting conveying mechanism of the redirecting conveying platform 3 further includes a redirecting wheel 34 correspondingly disposed between the conveying support guide rail 31 and the rope changing car positioning connection mechanism 4. Multiple redirecting wheels 34 may be configured.

[0042] To facilitate the guidance of the wire rope head by the front guide wheel 5, as a further improvement of the present invention, the angle between the axis of the front guide wheel 5 and the vertical plane is 15° to 75°.

[0043] To facilitate the docking and installation of the rear-direction conveying section at the rear end of the rope changing vehicle, as a further improvement of the present invention, the chassis 1 is a walking chassis including walking drive wheels.

[0044] Taking the reversing conveyor mechanism as a chain conveyor structure as an example, before the rope changing operation, the height of the reversing conveyor platform 3 can be adjusted to correspond with the conveying height of the clamping conveyor unit by controlling the lifting mechanism 2. Then, the entire rear reversing conveyor part is fixedly connected to the rear end of the rope changing car through the rope changing car positioning and connecting mechanism 4. After the front guide part is installed at the front end of the rope changing car, the rope changing operation can be carried out. When collecting old rope, the old rope is redirected by the front guide wheel of the rope changing trolley and fed into the front end of the clamping and conveying unit I of the rope changing trolley. The clamping and conveying unit I is driven to perform a forward clamping and conveying action, causing the old rope end to exit from the rear end of the clamping and conveying unit I. The old rope is coiled and clamped onto the carrier 321 of the conveyor chain 32. After being redirected by the conveyor chain 32, the old rope end is fed into the rear end of the clamping and conveying unit II. Simultaneously, the clamping and conveying unit I is driven to perform a forward clamping and conveying action, while the clamping and conveying unit II is driven to perform a reverse clamping and conveying action, causing the old rope end to exit from the front end of the clamping and conveying unit II. Then, the old rope end is passed around the front guide wheel 5 and led out to the rope-collecting winch for rope collection. Yes; when sending a new rope, the new rope released by the rope release winch is passed around the front guide wheel 5 and sent to the front end of the clamping and conveying unit II. By driving the clamping and conveying unit II of the rope changing car to perform a forward clamping and conveying action, the new rope head is output from the rear end of the clamping and conveying unit II. The new rope is coiled and clamped onto the carrier 321 of the conveyor chain 32. After the conveyor chain 32 is redirected, the new rope head is sent to the rear end of the clamping and conveying unit I. By driving the clamping and conveying unit II of the rope changing car to perform a forward clamping and conveying action, the clamping and conveying unit I is driven to perform a reverse clamping and conveying action, so that the new rope head is output from the front end of the clamping and conveying unit I. Then, the new rope head is passed around the front guide wheel of the rope changing car and redirected to be sent into the wellhead. The clamping and conveying unit I and the clamping and conveying unit II perform clamping and conveying actions in opposite directions simultaneously, which can multiply the frictional conveying force of the same rope changing car during rope changing operations, thereby reducing rope changing costs and avoiding the problem of difficulty in accurately controlling synchronization when multiple rope changing cars are working together.

Claims

1. A method for coordinated rope changing based on a single rope changing vehicle and clamping and conveying units, wherein the rope changing vehicle includes at least clamping and conveying unit I and clamping and conveying unit II arranged side by side, characterized in that, The wire rope output from clamping and conveying unit I or clamping and conveying unit II of the same rope changing car is redirected by the reversing conveying device and then sent into clamping and conveying unit I or clamping and conveying unit II for clamping and conveying. The clamping and conveying unit I and clamping and conveying unit II are controlled to perform clamping and conveying actions in opposite directions, thereby increasing the frictional conveying force of the same rope changing car. The redirecting conveyor includes a rear redirecting conveyor section and a front guide section; The rear redirection conveying section includes a chassis (1), a lifting mechanism (2), and a redirection conveying platform (3). The redirection conveying platform (3) is mounted on the chassis (1) via the lifting mechanism (2). The front end of the redirection conveying platform (3) is also provided with a rope changing car positioning and connecting mechanism (4). The redirection conveying platform (3) is provided with a redirection conveying mechanism inside for redirecting the wire rope output from the clamping conveying unit I or clamping conveying unit II of the same rope changing car and sending it into the clamping conveying unit II or clamping conveying unit I. The front guide section includes a front guide wheel (5) that can be mounted on the front of the rope changing vehicle via a support frame. The front guide wheel (5) is positioned in front of the clamping and conveying unit.

2. The method for collaborative rope changing based on the same rope changing vehicle and clamping and conveying unit according to claim 1, characterized in that, Before the rope changing operation, the height of the reversing conveyor platform (3) is adjusted to correspond with the conveying height of the clamping conveyor unit by controlling the lifting mechanism (2). Then, the entire rear reversing conveyor part is fixedly connected to the rear end of the rope changing car through the rope changing car positioning connection mechanism (4), and the front guide part is correspondingly installed at the front end of the rope changing car. When collecting old rope, the old rope is redirected by the front guide wheel of the rope changing car and sent to the front end of the clamping and conveying unit I of the rope changing car. The old rope head is output from the rear end of the clamping and conveying unit I by driving the clamping and conveying unit I of the rope changing car to perform a forward clamping and conveying action. After the old rope is redirected by the redirecting and conveying mechanism of the redirecting and conveying platform (3), the old rope head is sent to the rear end of the clamping and conveying unit II. The old rope head is output from the front end of the clamping and conveying unit II by driving the clamping and conveying unit I of the rope changing car to perform a forward clamping and conveying action. Then the old rope head is led out to the rope taking winch after passing around the front guide wheel (5). When sending a new rope, the new rope released by the rope release winch is passed around the front guide wheel (5) and sent to the front end of the clamping and conveying unit II. The clamping and conveying unit II of the rope changing car is driven to perform a forward clamping and conveying action so that the new rope head is output from the rear end of the clamping and conveying unit II. After the new rope is redirected by the redirecting and conveying mechanism of the redirecting and conveying platform (3), the new rope head is sent to the rear end of the clamping and conveying unit I. The clamping and conveying unit II of the rope changing car is driven to perform a forward clamping and conveying action while the clamping and conveying unit I is driven to perform a reverse clamping and conveying action so that the new rope head is output from the front end of the clamping and conveying unit I. Then the new rope head is passed around the front guide wheel of the rope changing car and redirected before being sent into the wellhead.

3. The method for collaborative rope changing based on the same rope changing vehicle and clamping and conveying unit according to claim 1, characterized in that, The redirecting conveyor mechanism is a chain conveyor structure, including a conveyor support rail (31) and a conveyor chain (32). The conveyor support rail (31), which is positioned and installed on the redirecting conveyor platform (3), includes at least an arc-shaped rail with the arc opening facing forward. The arc-shaped rail is symmetrical about left and right relative to the redirecting conveyor platform (3). The conveyor chain (32), which is connected end to end in a closed loop, is sleeved on the conveyor support rail (31). The links of the conveyor chain (32) are... The load-bearing chain link structure includes a load-bearing body (321) that cooperates with the wire rope. The conveyor chain (32) closed-loop structure is also provided with a conveyor chain tensioning mechanism (33) inside or outside. The conveyor chain tensioning mechanism (33) includes a tensioning wheel (331) and a tensioning telescopic drive component. The body end of the tensioning telescopic drive component is fixedly connected to the redirecting conveyor platform (3). The telescopic end of the tensioning telescopic drive component is rolled and connected to the tensioning wheel (331), and the tensioning wheel (331) rests against the conveyor chain (32).

4. The method for coordinated rope changing of clamping and conveying units based on the same rope changing vehicle according to claim 3, characterized in that, The arc-shaped guide rail (31) of the conveying support guide rail is a multi-segment structure including multiple arc segments, and the arc segments are connected to the diameter control mechanism.

5. The method for coordinated rope changing of clamping and conveying units based on the same rope changing vehicle according to claim 3, characterized in that, The tension wheel (331) is a sprocket structure that cooperates with the conveyor chain (32), and the tension wheel (331) is provided with a tension wheel rotation drive mechanism (332); The tension wheel (331) can be controlled to rotate actively to drive the conveyor chain (32) by controlling the action of the tension wheel rotation drive mechanism (332), or the tension wheel (331) can be controlled to perform damping braking by controlling the action of the tension wheel rotation drive mechanism (332).

6. The method for collaborative rope changing based on the same rope changing vehicle and clamping and conveying unit according to claim 1, characterized in that, The redirecting conveyor is a wheeled conveying structure, including a redirecting conveyor wheel that is symmetrical about the left and right sides relative to the redirecting conveyor platform (3). The rim of the redirecting conveyor wheel is provided with a guide conveying groove that works with the wire rope.

7. The method for coordinated rope changing of clamping and conveying units based on the same rope changing vehicle according to claim 6, characterized in that, The redirecting conveyor wheel is equipped with a redirecting conveyor wheel rotation drive mechanism; By controlling the rotation drive mechanism of the redirecting conveyor wheel, the redirecting conveyor wheel can be controlled to actively rotate and drive the wire rope, or the redirecting conveyor wheel can be controlled to perform damping braking.

8. The method for collaborative rope changing based on the same rope changing vehicle and clamping and conveying unit according to any one of claims 1 to 7, characterized in that, The redirection conveying mechanism of the redirection conveying platform (3) also includes a redirection wheel (34) correspondingly disposed between the conveying support guide rail (31) and the rope changing car positioning connection mechanism (4).

9. The method for coordinated rope changing of a clamping and conveying unit based on the same rope changing vehicle according to any one of claims 1 to 7, characterized in that, The angle between the axis of the front guide wheel (5) and the vertical plane is 15° to 75°.

10. The method for coordinated rope changing of a clamping and conveying unit based on the same rope changing vehicle according to any one of claims 1 to 7, characterized in that, The chassis (1) is a walking chassis that includes the driving wheels.

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