Intelligent heavy-load unmanned rail transportation equipment adaptive to complex terrains and control method

Abstract

The invention relates to the technical field of rail transportation, and discloses intelligent heavy-load unmanned rail transportation equipment adaptive to complex terrains and a control method.The intelligent heavy-load unmanned rail transportation equipment comprises a transportation mechanism, a rail mechanism is arranged at the bottom of the transportation mechanism, the rail mechanism comprises a rail component, and the surface of the rail component makes contact with the bottom of the transportation mechanism; the bottom of the rail part is provided with a reinforcing part, the inner side of the reinforcing part is provided with a speed reduction part, the transportation mechanism comprises a transportation vehicle part, the transportation vehicle part is arranged at the top of the rail mechanism, and the surface of the transportation vehicle part is provided with a steering reinforcing part. The rail displacement is avoided through the reinforcing part, the stability of heavy-load transportation under complex terrains is ensured, the speed reduction part adopts a lifting push rod to push a flexible pressing head to make contact with a speed reduction wheel and a clamping rod to be matched with an external expansion spring, rigid impact damage to the part is avoided, precise stopping can be achieved, and rapid forced stopping can be achieved under emergency conditions.

Description

Technical Field

[0001] This invention relates to the field of rail transport technology, and in particular to intelligent heavy-duty unmanned rail transport equipment and control methods adapted to complex terrain. Background Technology

[0002] Unmanned rail transport is an intelligent technology that uses a pre-set track and an automated control system to transport goods and people. It is widely used in industrial production, logistics warehousing, urban rail transit, and mining. Its core features are no human intervention, precise control, high efficiency, and safety.

[0003] Intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain has a single braking method or relies solely on rigid mechanical braking, lacking flexible braking. This makes the equipment prone to rigid impact damage to components, resulting in low braking accuracy and difficulty in achieving precise stopping. Furthermore, the lack of dedicated track reinforcement structures makes the track prone to displacement and unstable support in rugged and sloping terrain, making it difficult to meet the stability requirements of heavy-duty transport in complex terrain.

[0004] A search revealed Chinese Patent Publication No. CN214028615U, which discloses a novel unmanned railcar for mountain light rail systems. The unmanned railcar consists of a frame and two bogies fixedly mounted at both ends of the frame. The upper end of the frame is detachably connected to the lower end of the sightseeing vehicle. The bogies are located within the track. This unmanned railcar is a driverless, carriageless, and connectable flatbed transport vehicle that runs on a monorail. With the addition of a connecting device, this novel unmanned railcar can directly connect to and secure other vehicles (such as electric sightseeing vehicles), towing them to the required location. After securing other vehicles, tourists can continue to ride in the carriages of other vehicles and continue their sightseeing journey following the operation of the unmanned railcar, thus greatly expanding the scope of use of railcars and extending the sightseeing journey for tourists. However, this invention patent has obvious defects. In mountain transportation, there are many downhill sections with great inertia. Relying solely on conventional braking can easily generate rigid impacts, which cannot achieve precise stopping and may cause safety accidents due to insufficient braking strength. Furthermore, no track reinforcement structure is set up, relying only on the cooperation of monorail and bogie for operation. Mountainous terrain is often rugged with large gradient changes, and the track is prone to displacement and shaking under heavy loads or terrain impacts, which cannot guarantee the operational stability under complex mountainous terrain. Summary of the Invention

[0005] To overcome the above shortcomings, this invention provides an intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain, aiming to improve the problems in the prior art.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a transportation mechanism is included, the bottom of which is provided with a track mechanism, the track mechanism includes a rail component, the surface of which is in contact with the bottom of the transportation mechanism, a reinforcing component is provided at the bottom of the rail component, and a deceleration component is provided on the inner side of the reinforcing component. The reinforcing component at the bottom of the rail component is used to strengthen the overall structural strength of the track, adapt to complex terrain and heavy load scenarios, and prevent the track from shifting or deforming due to bearing pressure or terrain influence.

[0007] Through the above technical solution: the transportation mechanism includes a transportation vehicle component, which is disposed on top of the track mechanism, and a steering reinforcement component is installed on the surface of the transportation vehicle component.

[0008] Through the above technical solution: the transport vehicle component includes a vehicle head, a high-power electromagnet is fixedly connected to the outer surface of the vehicle head, a reduction wheel is fixedly connected to the bottom of the vehicle head, and a transport carriage is hinged to the outer surface of the vehicle head. The reduction wheel realizes the travel along the track and basic braking.

[0009] Through the above technical solution: the steering reinforcement component includes a swivel block, the inner wall of which rotates relative to the outer surface of the transport vehicle, a sliding member fixedly connected to the outer surface of the swivel block, an end ball fixedly connected to the end of the sliding member, a spherical cavity block slidably connected to the outer surface of the end ball, the outer surface of the spherical cavity block being fixed to the outer surface of the vehicle head, and the spherical cavity block shifting synchronously with the vehicle head, and the adjustment is achieved through the spherical sliding of the end ball and the spherical cavity block, and the extension and retraction of the sliding member.

[0010] Through the above technical solution: the rail component includes a transport rail, the inner surface of the transport rail is fixedly connected to a partition beam, and the outer surface of the partition beam is fixedly connected to a connecting rod.

[0011] Through the above technical solution: the reinforcing component includes a support frame, the end of which is fixed to the outer surface of the transport rail, a side frame is hinged to the outer surface of the support frame, a slide tube is slidably connected to the inner wall of the side frame, an insert is fixedly connected to the end of the slide tube, an inner pressure block is slidably connected to the inner wall of the insert, a wedge is fixedly connected to the outer surface of the inner pressure block, and a cone is fixedly connected to the end of the wedge. The side frame can rotate flexibly to adapt to terrains with different slopes.

[0012] Through the above technical solution: the outer surface of the wedge shaft slides against the inner wall of the slide tube, the outer surface of the insert and the inner pressure block slides against the outer surface of the support frame, the outer surface of the cone head slides against the inner wall of the support frame, the outer surface of the cone head is movably connected to the end of the slide tube, the inner pressure block in the insert pushes the wedge shaft to slide in the slide tube, and finally the cone head at the end of the wedge shaft is embedded in the ground.

[0013] Through the above technical solution: the deceleration component includes a crossbeam, the outer surface of which is fixed to the outer surface of the transport rail and the connecting rod, a rectangular tube is fixedly connected to the outer surface of the crossbeam, a lifting push rod is fixedly connected to the inner wall of the crossbeam, a top block is fixedly connected to the end of the lifting push rod, a convex tube is slidably connected to the outer surface of the top block, a flexible pressure head is fixedly connected to the end of the convex tube, a limiting ring is sleeved on the outer surface of the convex tube, a locking rod is slidably connected to the inner wall of the top block, and an outward expansion spring is fixedly connected to the end of the locking rod. The convex tube squeezes the locking rod to compress the outward expansion spring, thereby achieving buffered sliding.

[0014] Through the above technical solution: the lifting push rod is set inside the rectangular tube, the outer surface of the convex tube slides against the inner wall of the rectangular tube, the outer surface of the limiting ring is movably connected to the end of the rectangular tube, the outer surface of the locking rod is movably connected to the inner wall of the convex tube, the end of the outward expansion spring away from the locking rod is fixed to the inner wall of the top block, and the limiting ring limits the maximum stroke of the convex tube.

[0015] Furthermore, this invention also provides a control method for intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain, comprising the following steps: S1. During track installation, the side frame of the reinforced component adapts to the terrain slope, the sliding tube moves down to form a channel, the wedge shaft pushes the cone head into the ground, and the inner pressure block presses the support frame to complete the fixation. S2. The front control reduction wheel drives the transport mechanism to travel along the transport rail. When turning, the end ball of the steering reinforcement component slides with the ball cavity block. The sliding part extends and retracts, and the rotating block rotates to ensure smooth steering. When decelerating and braking, the convex tube is first pushed by the raised push rod so that the flexible pressure head contacts the reduction wheel. Multiple gradual decelerations are achieved through the cooperation of the clamp rod and the outward expansion spring. When approaching the station, the high-power electromagnet and the multi-layer aluminum plate generate electromagnetic force to assist in deceleration. In an emergency, the double braking forces a stop. S3. The high-power electromagnet is de-energized and unloaded. After unloading, all components are reset and await the next instruction.

[0016] The present invention has the following beneficial effects: 1. In this invention, the equipment is designed with a special structure for complex terrains such as rugged terrain and slopes. The track reinforcement mechanism adapts to the terrain slope and achieves a firm fixation between the track and the ground, effectively preventing track displacement during transportation. During heavy-load transportation, the track components can distribute pressure and reduce the risk of local overload deformation. The steering-related structures, through flexible cooperation, not only enhance the connection rigidity between the locomotive and the carriage, but also ensure a smooth and uninterrupted steering process, comprehensively avoiding problems such as deviation and rollover under heavy loads, and ensuring the stability and reliability of heavy-load transportation in complex terrains.

[0017] 2. In this invention, mechanical braking avoids damage to components from rigid impacts through flexible contact and cyclic deceleration modes. Electromagnetic braking further improves stopping accuracy and can quickly force a stop in emergencies. It has sufficient safety redundancy and the equipment achieves unmanned intelligent control throughout the process without human intervention. It can dynamically adapt to changes in terrain and different transportation scenarios. Moreover, the structural design of each component fits the functional requirements, resulting in less wear and loss, extending the service life of the equipment, while improving transportation efficiency and reducing labor and maintenance costs. Attached Figure Description

[0018] Figure 1 This is a front perspective view of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 2 This diagram illustrates the component installation locations of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 3 This is a partial structural diagram of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 4 This is a partial cross-sectional view of the steering reinforcement component of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 5 This is a partial structural diagram of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 6 This is a partial structural schematic diagram of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 7 This is a cross-sectional schematic diagram of a partial structure of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 8 This is a partial cross-sectional structural diagram of the intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention. Figure 9 This invention provides an intelligent heavy-load unmanned rail transport equipment adapted to complex terrain. Figure 8 -A Schematic diagram of a partially enlarged structure; Figure 10 This is a flowchart of the control method for intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain proposed in this invention.

[0019] Legend: 1. Transportation Mechanism; 11. Transport Vehicle Components; 111. Car Head; 112. High-Power Electromagnet; 113. Reduction Wheel; 114. Transport Carriage; 12. Steering Reinforcement Components; 121. Rotating Block; 122. Sliding Part; 123. End Ball; 124. Ball Cavity Block; 2. Track Mechanism; 21. Rail Components; 211. Transport Rail; 212. Divider Beam; 213. Connecting Rod; 22. Reinforcing Components; 221. Support Frame; 222. Side Frame; 223. Sliding Tube; 224. Insert Block; 225. Wedge Shaft; 226. Inner Pressure Block; 227. Cone Head; 23. Reduction Components; 231. Cross Frame; 232. Rectangular Tube; 233. Lifting Push Rod; 234. Top Block; 235. Convex Tube; 236. Limiting Ring; 237. Flexible Pressure Head; 238. Locking Rod; 239. Outward Expansion Spring. Detailed Implementation

[0020] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0021] Please see the appendix Figure 1 Appendix Figure 2 and attached Figure 3 An embodiment of the present invention includes a transport mechanism 1, a track mechanism 2 is provided at the bottom of the transport mechanism 1, the track mechanism 2 includes a rail component 21, the surface of the rail component 21 is in contact with the bottom of the transport mechanism 1, a reinforcing component 22 is provided at the bottom of the rail component 21, and a deceleration component 23 is provided on the inner side of the reinforcing component 22. Specifically, the transport mechanism 1, as the main body of transport execution, has its bottom in direct contact with the rail component 21 of the track mechanism 2. The rail component 21 provides a stable running support surface for the transport mechanism 1, ensuring that it moves along the preset track. The reinforcing component 22 at the bottom of the rail component 21 is used to strengthen the overall structural strength of the track, adapt to complex terrain and heavy load scenarios, and prevent the track from shifting or deforming due to bearing pressure or terrain influence. The deceleration component 23 inside the reinforcing component 22 serves as the braking core, which can realize deceleration or stopping control according to transport needs, ensuring the safety and controllability of the transport process.

[0022] Please see the appendix Figure 4The transport mechanism 1 includes a transport vehicle component 11, which is located on top of the track mechanism 2. A steering reinforcement component 12 is installed on the surface of the transport vehicle component 11. The transport vehicle component 11 includes a vehicle head 111. A high-power electromagnet 112 is fixedly connected to the outer surface of the vehicle head 111. A reduction wheel 113 is fixedly connected to the bottom of the vehicle head 111. A transport carriage 114 is hinged to the outer surface of the vehicle head 111. The steering reinforcement component 12 includes a rotating block 121. The inner wall of the rotating block 121 rotates with the outer surface of the transport carriage 114. A sliding member 122 is fixedly connected to the outer surface of the rotating block 121. An end ball 123 is fixedly connected to the end of the sliding member 122. A ball cavity block 124 is slidably connected to the outer surface of the end ball 123. The outer surface of the ball cavity block 124 is fixed to the outer surface of the vehicle head 111. Specifically, the reduction wheel 113 enables travel along the track and basic braking. The transport carriage 114, hinged to the outer surface of the car head 111, is used to carry goods. The high-power electromagnet 112 can strengthen the connection between the car head 111 and the carriage or assist braking under specific working conditions. The rotating block 121 is sleeved on the outer surface of the transport carriage 114 and can rotate relative to it. It is connected to the end ball 123 through the sliding member 122. The end ball 123 is embedded in the ball cavity block 124 fixed in the car head 111 and can slide freely. The spherical sliding of the end ball 123 and the ball cavity block 124, the extension and retraction adjustment of the sliding member 122, and the rotation of the rotating block 121 on the transport carriage 114 enable the adaptive coordination of the angle between the car head 111 and the carriage, ensuring the smoothness of the steering process.

[0023] Please see the appendix Figure 5 , to the appendix Figure 7 The rail component 21 includes a transport rail 211, with a partition beam 212 fixedly connected to the inner surface of the transport rail 211 and a connecting rod 213 fixedly connected to the outer surface of the partition beam 212. The reinforcing component 22 includes a support frame 221, with its end fixed to the outer surface of the transport rail 211. A side frame 222 is hinged to the outer surface of the support frame 221, and a slide tube 223 is slidably connected to the inner wall of the side frame 222. An insert 224 is fixedly connected to the end of the slide tube 223. An inner pressure block 226 is slidably connected to the inner wall of 224. A wedge shaft 225 is fixedly connected to the outer surface of the inner pressure block 226. A cone head 227 is fixedly connected to the end of the wedge shaft 225. The outer surface of the wedge shaft 225 slides against the inner wall of the slide tube 223. The outer surfaces of the insert 224 and the inner pressure block 226 slide against the outer surface of the support frame 221. The outer surface of the cone head 227 slides against the inner wall of the support frame 221. The outer surface of the cone head 227 is movably connected to the end of the slide tube 223. Specifically, the slide tube 223 slides along the inner wall of the side frame 222, causing the end block 224 to move synchronously. The inner pressure block 226 in the block 224 pushes the wedge shaft 225 to slide inside the slide tube 223, ultimately causing the cone head 227 at the end of the wedge shaft 225 to embed into the ground, thus achieving a firm fixation between the track and the ground.

[0024] Please see the appendix Figure 8 Appendix Figure 6 Appendix Figure 9 and attached Figure 10 The deceleration component 23 includes a crossbeam 231. The outer surface of the crossbeam 231 is fixed to the outer surfaces of the transport rail 211 and the connecting rod 213. A rectangular tube 232 is fixedly connected to the outer surface of the crossbeam 231. A lifting push rod 233 is fixedly connected to the inner wall of the crossbeam 231. A top block 234 is fixedly connected to the end of the lifting push rod 233. A convex tube 235 is slidably connected to the outer surface of the top block 234. A flexible pressure head 237 is fixedly connected to the end of the convex tube 235. A limiting device is sleeved on the outer surface of the convex tube 235. A locking rod 238 is slidably connected to the inner wall of the ring 236 and the top block 234. An outward expansion spring 239 is fixedly connected to the end of the locking rod 238. The lifting push rod 233 is set inside the rectangular tube 232. The outer surface of the convex tube 235 slides against the inner wall of the rectangular tube 232. The outer surface of the limiting ring 236 is movably connected to the end of the rectangular tube 232. The outer surface of the locking rod 238 is movably connected to the inner wall of the convex tube 235. The end of the outward expansion spring 239 away from the locking rod 238 is fixed to the inner wall of the top block 234.

[0025] Specifically, the lifting push rod 233 on the inner wall of the cross frame 231 is activated as a power source, which pushes the top block 234 at the end to drive the convex tube 235 to slide along the inner wall of the rectangular tube 232, so that the flexible pressure head 237 at the end of the convex tube 235 contacts the deceleration wheel 113 of the transport mechanism 1, and achieves initial deceleration through friction. The outward expansion spring 239 in the top block 234 always applies elastic force to the locking rod 238, so that the locking rod 238 locks the inner wall of the convex tube 235. When the braking pressure reaches the threshold, the convex tube 235 squeezes the locking rod 238 to compress the outward expansion spring 239, realizing buffered sliding. When the limiting ring 236 on the outer surface of the convex tube 235 contacts the end of the rectangular tube 232, it limits the maximum stroke of the convex tube 235 and avoids excessive movement of the parts. Furthermore, this invention also provides a control method for intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain, comprising the following steps: S1. During track installation, the side frame 222 of the reinforcing component 22 adapts to the terrain slope, the slide tube 223 moves down to form a channel, the wedge shaft 225 pushes the cone head 227 into the ground, and the inner pressure block 226 presses the support frame 221 to complete the fixation. S2, the head of the car 111 controls the reduction wheel 113 to drive the transport mechanism 1 to travel along the transport rail 211. When turning, the end ball 123 of the steering reinforcement component 12 slides with the ball cavity block 124, the sliding part 122 extends and retracts, and the rotating block 121 rotates to ensure smooth steering. When decelerating and braking, the convex tube 235 is pushed by the lifting push rod 233 to make the flexible pressure head 237 contact the reduction wheel 113. The locking rod 238 and the outward expansion spring 239 cooperate to achieve multiple gradual decelerations. When approaching the station, the high-power electromagnet 112 and the multi-layer aluminum plate generate electromagnetic force to assist deceleration. In an emergency, the double braking forces a stop. S3, the high-power electromagnet 112 is de-energized and unloaded. After unloading, all components are reset and await the next instruction.

[0026] Working principle: When the equipment is installing the track, the slide tube 223 moves downward to form a channel, and the wedge shaft 225 moves downward synchronously inside it, pushing the cone head 227 to embed into the ground. The side frame 222 rotates hingedly around the support frame 221 to adapt to the installation terrain. The insert block 224 and the inner pressure block 226 cooperate to press the support frame 221, enhancing the initial adhesion between the track and the ground. After entering the driving stage, the locomotive 111 controls the wheel drum of the reduction wheel 113 to rotate, driving the transport mechanism 1 to travel along the transport track 211. The partition beam 212 and connecting rod 213 of the rail component 21 distribute the heavy load pressure to ensure the overall stability of the track. When traveling to rugged or sloping sections, the track is reinforced. Component 22 remains supported, and its angle is adapted to the side frame 222 through the embedded fixation of the cone head 227, continuously preventing track displacement. During turning, the two side steering reinforcement components 12 work together, the ball cavity block 124 shifts with the head of the car 111, the end ball 123 slides in the ball cavity block 124, the sliding member 122 flexibly extends and retracts according to the turning radius, and the rotating block 121 rotates on the outer surface of the transport car 114, which not only enhances the connection strength between the head of the car 111 and the transport car 114, but also improves the smoothness of turning. During the deceleration and braking phase, a progressive dual braking mechanism is adopted, first initiating mechanical progressive deceleration and repeating it multiple times: the lifting push rod 2 on the cross frame 231 33 extends upward to push the top block 234, causing the convex tube 235 to move upward along the rectangular tube 232, so that the flexible pressure head 237 contacts the reduction wheel 113. The rotating wheel of the reduction wheel 113 crushes the arc groove of the flexible pressure head 237. The curved surface of the arc groove changes the direction of the force, causing the flexible pressure head 237 to slide down. At the same time, the impact is converted into a circumferential force of the wheel. When the radial force generated by the downward movement of the convex tube 235 exceeds the threshold, the spherical structure at the end of the locking rod 238 compresses the outward expansion spring 239 to retract inward and release the lock until the limit ring 236 contacts the rectangular tube 232, stopping the downward movement of the convex tube 235. Then the outward expansion spring 239 resets and the locking rod 238 locks the convex tube 235 again. The inner wall of 35 completes one deceleration. This process is repeated multiple times to gradually reduce the speed. When the transport mechanism 1 approaches the stop station and enters the station braking stage, the high-power electromagnet 112 is activated and generates electromagnetic induction with the multi-layer aluminum plate of the station. According to Lenz's law, a reverse electromagnetic force is formed to further reduce the speed. In case of an emergency, the emergency brake is activated. The push rod 233 is raised to make the flexible pressure head 237 instantly press against the deceleration wheel 113. The push rod 233 is raised and retracted to make the convex tube 235 and the flexible pressure head 237 return to the initial position. The locking rod 238 is reset under the action of the outward expansion spring 239. The transport mechanism 1 waits for the next instruction or returns to the initial position along the transport rail 211.

[0027] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. Intelligent heavy-duty unmanned track transport equipment adapted to complex terrain, comprising a transport mechanism (1), characterized in that: The bottom of the transportation mechanism (1) is provided with a track mechanism (2), the track mechanism (2) comprises a rail part (21), the surface of the rail part (21) is in contact with the bottom of the transportation mechanism (1), the bottom of the rail part (21) is provided with a reinforcing part (22), the inner side of the reinforcing part (22) is provided with a deceleration part (23).

2. The intelligent heavy duty trackless unmanned transport equipment adapted to complex terrain according to claim 1, characterized in that: The transportation mechanism (1) comprises a transport car part (11), the transport car part (11) is arranged on the top of the track mechanism (2), the surface of the transport car part (11) is provided with a steering reinforcement part (12).

3. The intelligent heavy load track-bound transport equipment for adapting complex terrain according to claim 2, characterized in that: The transport car part (11) comprises a car head (111), the outer surface of the car head (111) is fixedly connected with a high-power electromagnet (112), the bottom of the car head (111) is fixedly connected with a deceleration wheel (113), the outer surface of the car head (111) is hingedly connected with a transport car compartment (114).

4. The intelligent heavy-duty trackless unmanned transport equipment adapted to complex terrain according to claim 3, characterized in that: The steering reinforcement part (12) comprises a swivel block (121), the inner wall of the swivel block (121) is rotatable with the outer surface of the transport car compartment (114), the outer surface of the swivel block (121) is fixedly connected with a sliding piece (122), the end of the sliding piece (122) is fixedly connected with an end ball (123), the outer surface of the end ball (123) is slidingly connected with a ball cavity block (124), the outer surface of the ball cavity block (124) is fixed with the outer surface of the car head (111).

5. The intelligent heavy load track-bound unmanned transport equipment adapted to complex terrain according to claim 4, characterized in that: The rail part (21) comprises a transport rail (211), the inner side surface of the transport rail (211) is fixedly connected with a diaphragm (212), the outer surface of the diaphragm (212) is fixedly connected with a connecting rod (213).

6. The intelligent heavy load track-bound transport equipment for adapting complex terrain according to claim 5, characterized in that: The reinforcing part (22) comprises a support frame (221), the end of the support frame (221) is fixed with the outer surface of the transport rail (211), the outer surface of the support frame (221) is hingedly connected with a side frame (222), the inner wall of the side frame (222) is slidingly connected with a sliding pipe (223), the end of the sliding pipe (223) is fixedly connected with an embedded block (224), the inner wall of the embedded block (224) is slidingly connected with an inner pressure block (226), the outer surface of the inner pressure block (226) is fixedly connected with a wedge shaft (225), the end of the wedge shaft (225) is fixedly connected with a tapered head (227).

7. The intelligent heavy-haul track-bound unmanned transport equipment adapted to complex terrain according to claim 6, characterized in that: The outer surface of the wedge shaft (225) is sliding with the inner wall of the sliding pipe (223), the outer surfaces of the embedded block (224) and the inner pressure block (226) are sliding with the outer surface of the support frame (221), the outer surface of the tapered head (227) is sliding with the inner wall of the support frame (221), and the outer surface of the tapered head (227) is movably connected with the end of the sliding pipe (223).

8. The intelligent heavy-haul track-bound unmanned transport equipment adapted to complex terrain according to claim 7, characterized in that: The deceleration component (23) includes a crossbeam (231), the outer surface of which is fixed to the outer surface of the transport rail (211) and the connecting rod (213). A rectangular tube (232) is fixedly connected to the outer surface of the crossbeam (231). A lifting push rod (233) is fixedly connected to the inner wall of the crossbeam (231). A top block (234) is fixedly connected to the end of the lifting push rod (233). A convex tube (235) is slidably connected to the outer surface of the top block (234). A flexible pressure head (237) is fixedly connected to the end of the convex tube (235). A limiting ring (236) is sleeved on the outer surface of the convex tube (235). A locking rod (238) is slidably connected to the inner wall of the top block (234). An outward expansion spring (239) is fixedly connected to the end of the locking rod (238).

9. The intelligent heavy-haul track-bound unmanned transport equipment adapted to complex terrain according to claim 8, characterized in that: The lifting push rod (233) is located inside the rectangular tube (232). The outer surface of the convex tube (235) slides against the inner wall of the rectangular tube (232). The outer surface of the limiting ring (236) is movably connected to the end of the rectangular tube (232). The outer surface of the locking rod (238) is movably connected to the inner wall of the convex tube (235). The end of the outward expansion spring (239) away from the locking rod (238) is fixed to the inner wall of the top block (234).

10. A control method for intelligent heavy-duty unmanned rail transport equipment adapted to complex terrain, applied to a low-oxygen, high-temperature coupled tea roasting device as described in claims 1-9, characterized in that: S1, including the following steps: During track installation, the side frame (222) of the reinforcing component (22) adapts to the terrain slope, the slide tube (223) moves down to form a channel, the wedge shaft (225) pushes the cone head (227) into the ground, and the inner pressure block (226) presses the support frame (221) to complete the fixation; S2. The front of the car (111) controls the deceleration wheel (113) to drive the transport mechanism (1) to travel along the transport rail (211). When turning, the end ball (123) of the steering reinforcement component (12) slides with the ball cavity block (124). The sliding part (122) extends and retracts, and the rotating block (121) rotates to ensure smooth steering. When decelerating and braking, the convex tube (235) is pushed by the lifting push rod (233) so that the flexible pressure head (237) contacts the deceleration wheel (113). The locking rod (238) and the outer expansion spring (239) work together to achieve multiple gradual decelerations. When approaching the station, the high-power electromagnet (112) and the multi-layer aluminum plate generate electromagnetic force to assist deceleration. In an emergency, the double braking forces a stop. S3, High-power electromagnet (112) is de-energized and unloaded. After unloading, all components are reset and waiting for the next instruction.

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