Single-rope-rail self-driven carrier

Abstract

The utility model relates to a cableway transportation device, in particular to a single-rope-rail self-driven carrier which comprises a fixed bearing steel cable, a hanging assembly and a hanging box, a traditional circulating steel cable is transformed into a static rope rail structure with two fixed ends, and the surface of the static rope rail structure is sleeved with dense gear rings to form a transmission interface. The suspension assembly is hung on the bearing steel cable and is rigidly connected with the suspension box through a pull rod, and an autonomous driving system is integrated in the suspension box and comprises a lithium battery pack, a driving motor, a meshing driving wheel and a control unit. The driving motor is fixedly arranged on the suspension assembly and drives the gear teeth to be meshed with the rope rail gear ring through the transmission mechanism, so that the suspension box moves autonomously along the rail. And the control system receives a control instruction and dynamically adjusts motor output, so that the driving wheel precisely rolls and propels along the gear ring. Compared with the prior art, the track can adapt to complex terrains such as canyons and abrupt slopes, and the track laying cost is greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to a cableway transport device, especially to a suspension type carrier which is self-driven through a single composite rope rail, and is suitable for mountain tourism, logistics transportation and other scenes requiring flexible crossing of complex terrain. BACKGROUND

[0002] At present, cableway transport technology mainly includes two types: steel cable driving system and rack rail driving system. The conventional steel cable driving system supports the car through the load-bearing cable tensioned by the fixed support, and relies on the external equipment such as hoist to synchronously pull multiple cars. This system has high transport efficiency in tourist attractions or urban traffic with large passenger flow, but its "one motion with all" feature results in low fault tolerance rate, and once a section of steel cable or support fails, the whole cableway will be forced to stop. More importantly, this kind of system needs to configure redundant power equipment and support structure, and in the case of low carrying strength such as forest patrol and mine production, the complex mechanical structure and high maintenance cost often cause resource waste.

[0003] Another type of rack rail driving system realizes the autonomous travel of the car through the engagement of the rack fixed on the mountain or ground with the driving wheel. This kind of system has strong climbing ability and stable operation, but the laying of rigid track needs to excavate foundation and pour concrete, which has great difficulty in construction in complex terrain area, resulting in several times of initial construction cost than steel cable system. In addition, the engagement loss of rack and driving wheel needs frequent maintenance, which further increases the long-term operation cost and limits its popularization and application in economic transportation scene.

[0004] The core contradiction of the prior art is that the steel cable system has functional redundancy in low carrying strength scene, while the rack system lacks economy in complex terrain. UTILITY MODEL CONTENTS

[0005] The utility model aims to break through the structural limitation of traditional cableway, develop a lightweight, low-cost and complex terrain adaptive cableway transport device, integrate the bearing and driving functions through the innovative single composite rope rail, combine the existing mature electric vehicle technology, and realize efficient and flexible transportation under different carrying strength requirements. For this purpose, the technical scheme adopted by the utility model is:

[0006] A single rope rail self-driven carrier, comprising a load-bearing steel cable, the load-bearing steel cable is hung with a suspension assembly, the suspension assembly is connected with a pull rod, the lower end of the pull rod is fixedly connected with a hanging box, and the load-bearing steel cable is not circulated, the two ends of the load-bearing steel cable are fixed, and a plurality of closely arranged tooth rings are sleeved on the load-bearing steel cable, and the tooth ring and the load-bearing steel cable jointly constitute a rope rail; further comprising a self-driving assembly, the self-driving assembly comprises a lithium battery pack, a driving motor, a driving wheel, a control mechanism and a control system, wherein the lithium battery pack is fixedly arranged inside or outside the hanging box, and provides power for the whole self-driving assembly; the driving motor is fixedly installed on the suspension assembly, and the output end of the driving motor is in transmission connection with the driving wheel; the driving wheel is arranged inside the suspension assembly and is in meshing connection with the tooth ring on the rope rail; the control mechanism and the control system are arranged inside the hanging box, the control mechanism is used for receiving operation instructions of an operator, and the control system is electrically connected with the lithium battery pack and the driving motor respectively, and the control system controls the operation of the driving motor according to the instructions of the control mechanism, so as to drive the driving wheel to roll on the tooth ring, and realize the autonomous movement of the hanging box along the rope rail.

[0007] Further, the tooth ring has two kinds, one is an integral tooth ring, and the other is a split tooth ring, a plurality of integral tooth rings are sleeved between two split tooth rings during initial installation, so that the tooth rings are fixed on the load-bearing steel cable in a segmented manner to prevent movement, and when one integral tooth ring is damaged, the split tooth ring is used to replace the damaged integral tooth ring; the integral tooth ring comprises a sleeve in gap cooperation with the load-bearing steel cable, the middle part of the sleeve is a involute annular tooth, and the length of the sleeve is greater than the width of the annular tooth, so that the tooth spacing is formed between adjacent tooth rings; the split tooth ring is formed by cutting the integral tooth ring along the axial symmetry plane to form two halves, each half retains the half-cylinder structure of the sleeve and the half-tooth structure of the annular tooth; the two halves are fixed by screws penetrating through the radial direction, and the complete tooth ring structure is formed after splicing, and the fastening force of the screws tightly clamps the inner surface of the half to the load-bearing steel cable.

[0008] Further, the driving wheels are three, and each of the driving wheels is uniformly arrayed with a plurality of concave teeth engaged with the tooth ring, three driving wheel shafts are respectively fixedly connected with the three driving wheels, both ends of each driving wheel shaft penetrates through the driving wheel, and a bearing is sleeved on the penetrating part; the suspension assembly comprises a hook body composed of a short side plate, a long side plate and a top plate fixedly connected with the two plates, three pairs of flanges are correspondingly fixedly arranged on the inner sides of the short side plate and the long side plate; the bearings are respectively installed in the flanges, so that the three driving wheel shafts are rotatably arranged on the hook body; one end of the three driving wheel shafts arranged from left to right penetrates through the long side plate and is fixedly connected with a left chain wheel, a middle chain wheel and a right chain wheel through splines respectively; the driving motor is provided with a reducer, and the driving motor is fixedly installed on the top plate, and an output shaft of the driving motor is fixedly connected with a top chain wheel; wherein, the middle chain wheel is a three-piece structure, and the other chain wheels are single-piece structures, the middle chain wheel is connected with the left chain wheel, the right chain wheel and the top chain wheel through chains to realize power transmission.

[0009] Further, the driving wheels are three, and each of the driving wheels is uniformly arrayed with a plurality of concave teeth engaged with the tooth ring, three driving wheel shafts are respectively fixedly connected with the three driving wheels, both ends of each driving wheel shaft penetrates through the driving wheel, and a bearing is sleeved on the penetrating part; the suspension assembly comprises a hook body composed of a short side plate, a long side plate and a top plate fixedly connected with the two plates, three pairs of flanges are correspondingly fixedly arranged on the inner sides of the short side plate and the long side plate; the bearings are respectively installed in the flanges, so that the three driving wheel shafts are rotatably arranged on the hook body; one end of the three driving wheel shafts arranged from left to right penetrates through the long side plate and is fixedly connected with a left chain wheel, a middle chain wheel and a right chain wheel through splines respectively; the driving motor is provided with a reducer, and the driving motor is fixedly installed on the top plate, and an output shaft of the driving motor is fixedly connected with a top chain wheel; wherein, the middle chain wheel is a three-piece structure, and the other chain wheels are single-piece structures, the middle chain wheel is connected with the left chain wheel, the right chain wheel and the top chain wheel through chains to realize power transmission.

[0010] Further, the inner ends of the left and right large arms are respectively fixedly connected with one end of a tension spring, and the other ends of the two tension springs are fixedly connected with the top plate above the middle driving wheel, so that the support wheels located on the outer side have a tendency to abut against the rope rail.

[0011] Further, the hub of the support wheel is embeddedly installed with a micro bearing at both ends, the two ends of the support wheel shaft successively penetrate through the inner ring of the micro bearing, the through holes pre-provided on the short side plate and the long side plate of the hook body, and are locked through a pin, so that the support wheel can freely rotate around the support wheel shaft; the outer periphery of the support wheel is provided with an annular recessed groove along the circumference, the cross section of the annular recessed groove is in a sinusoidal curve type, the opening width of the annular recessed groove is greater than the diameter of the tooth ring of the rope rail, and the groove bottom curvature radius matches the outer diameter of the tooth ring; when the support wheel is in rolling cooperation with the rope rail, the tooth ring enters the annular recessed groove, and the radial constraint of the sinusoidal curve type groove wall to the tooth ring realizes the guiding function.

[0012] Further, the lower end of the long side plate is connected with a pull rod, and the lower end of the pull rod is fixed with the hanging box.

[0013] Further, the rope rail fixing and connecting mechanism comprises an L-shaped connecting fixing plate fixed with a rope rail tower or a rope rail installation foundation, the middle part of the vertical plate of the connecting fixing plate is recessed to form an upper suspension protrusion and a lower suspension protrusion, the upper end of the vertical plate of the connecting fixing plate is processed to form a rack with the same shape as the upper half of the tooth ring of the rope rail and capable of engaging with the driving wheel, an L-shaped round corner hole is formed in the upper suspension protrusion and penetrates the outer end and the lower end of the upper suspension protrusion, the inside of the L-shaped round corner hole is smoothly transitioned, a through hole is formed in the lower suspension protrusion and penetrates the upper end and the lower end of the lower suspension protrusion, one end of the load-bearing steel cable of the rope rail is welded with a tensioning screw rod after penetrating the L-shaped round corner hole, the tensioning screw rod is screwed with a tensioning nut and a back tensioning nut after penetrating the through hole, a tooth ring is sleeved on the load-bearing steel cable outside the upper suspension protrusion, the tooth ring is tightly abutted against the upper suspension protrusion under the action of the tensioning nut and the back tensioning nut, and the tooth ring is butted against the rack.

[0014] Further, the suspension assembly comprises a hook body composed of a short side plate, a long side plate and a top plate fixedly connected with the short side plate and the long side plate, the short side plate corresponds to the inner side of the connecting fixing plate, the long side plate corresponds to the outer side of the connecting fixing plate, and the height of the short side plate is smaller than the height of the vertical plate of the connecting fixing plate.

[0015] Further, a MEMS accelerometer for detecting the pitch angle and acceleration is installed in the suspension assembly, a load current sensor is additionally installed on the bus of the driving motor, when the MEMS accelerometer detects that the pitch angle is greater than a preset downhill threshold value and / or the acceleration is greater than a preset value, it is judged that the vehicle enters the descending stage, the control system disconnects the power supply of the driving motor and switches the driving motor to the regenerative braking mode to reversely charge the lithium battery pack, and when the MEMS accelerometer detects that the pitch angle is greater than a preset uphill threshold value, it is judged that the vehicle enters the climbing stage.

[0016] Further, the control mechanism comprises an automatic driving mode button, a manual driving mode button, a joystick and an emergency brake pedal; in the automatic driving mode, the joystick and the emergency brake pedal are electrically controlled to be locked, the vehicle is automatically controlled by the control system according to the extension direction of the rope rail to drive the motor in the positive direction, and the preset cruising speed is maintained; in the manual driving mode, the joystick and the emergency brake pedal are unlocked, when the joystick is in the neutral position, the motor maintains the current rotating speed, and the vehicle travels at a constant speed; when the joystick is pushed forward, the motor is positively accelerated, and the acceleration is proportional to the forward displacement amount of the joystick; when the joystick is pulled backward, the motor enters the regenerative braking mode, and the deceleration is proportional to the backward displacement amount of the joystick; the emergency brake pedal is an electrical linkage device, when the vehicle is on a flat road or in a descending stage, the emergency brake pedal is stepped on, the motor is switched to the maximum regenerative braking mode, the output reverse torque is more than 200% of the rated torque, and the power supply of the lithium battery pack is cut off; when the vehicle is in a climbing stage, the emergency brake pedal is electrically controlled to be locked, misoperation is prevented to interrupt the power output of the motor, and the climbing safety of the vehicle is ensured.

[0017] Compared with the prior art, the utility model has the following beneficial technical effects:

[0018] 1. Structure simplification and cost reduction. Single rope rail integrated bearing and driving: the rope rail is formed by fixing the non-circulating bearing steel cable sleeve to the tooth ring, replacing the redundant power equipment of the traditional steel cable system and the rigid track of the rack system, the structure is simplified, and the cost is reduced. Decentralized power configuration: each hanging box is provided with an independent driving component, without the need for a centralized power source, and the system construction cost is lower than that of the traditional steel cable system.

[0019] 2. Improved adaptability to complex terrain. Flexible rope rail erection: the suspension characteristics of the bearing steel cable can be used to directly erect in complex terrains such as valleys and steep slopes, avoiding the construction difficulties of excavating foundations and pouring concrete for the rack track, and improving the adaptability to terrain. Independent operation and fault isolation: the single-hanging-box self-driving mode breaks the rigid linkage of the traditional steel cable system, and when a local rope rail or driving component fails, other hanging boxes can still operate normally.

[0020] 3. Construction and maintenance convenience. Rapid deployment: after the two ends of the rope rail are fixed, there is no need for dynamic adjustment, and the erection period is short. Modular maintenance: the driving wheel, tooth ring and other vulnerable parts adopt standardized interfaces, and the replacement time is shorter.

[0021] 4. Energy consumption optimization and environmental friendliness. On-demand driving: the hanging box only consumes electric energy when moving, and the energy consumption tends to zero when idle or parked, which is more than 70% lower than that of the traditional steel cable system. Low environmental intervention: no need to excavate mountains or lay concrete tracks, reducing ecological damage and meeting green construction standards.

[0022] 5. Functionality expansion. Flexible load adaptation: compatible with various load requirements by adjusting the power of the driving motor and the density of the gear ring, suitable for passenger transportation, material hoisting and other scenes. Intelligent upgrade space: the control system reserves sensor interfaces to support the subsequent installation of automatic driving modules.

[0023] In summary, the utility model discloses a single rope rail integrated load-bearing drive and distributed self-driving module design, while retaining the core advantage of cableway crossing complex terrain, completely solves the pain points of high cost, poor flexibility and complex maintenance of traditional systems, especially suitable for small and medium passenger and freight transportation scenarios in complex terrain, and the comprehensive technical and economic efficiency is improved significantly. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is the structure schematic diagram of the utility model.

[0025] Figure 2 It is the partial close-up view of Figure 1

[0026] Figure 3 It is the structure schematic diagram of the utility model hook body hidden hook body.

[0027] Figure 4 It is the structure schematic diagram of the utility model rope rail.

[0028] Figure 5 It is the structure schematic diagram of the utility model integral gear ring.

[0029] Figure 6 It is the structure schematic diagram of the utility model split gear ring.

[0030] Figure 7 It is the structure schematic diagram of the utility model hook body.

[0031] Figure 8 It is the structure schematic diagram of the utility model driving wheel.

[0032] Figure 9 It is the structure schematic diagram of the utility model support wheel.

[0033] Figure 10 It is the structure schematic diagram of the utility model rope rail fixing and connecting mechanism.

[0034] Figure 11 It is the partial close-up view of Figure 10

[0035] Figure 12 It is the sectional view of Figure 11 DETAILED DESCRIPTION

[0036] ​​​In the description of the utility model, it needs to explain, the term "center", "upper", "lower", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or position relation based on the orientation or position relation shown in the drawing, only for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the indicated device or element must have a particular orientation, a particular orientation and operation, therefore, it cannot be understood as a limitation on the utility model.

[0037] In the description of the utility model, it needs to explain, unless otherwise expressly provided and limited, the term "installation", "connection", "communication" should be understood broadly, for example, it can be fixed connection, also can be detachable connection, or integrally connected, can be mechanical connection, also can be electrical connection, can be directly connected, also can be indirectly connected through the intermediate medium, can be the communication inside two elements. For ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to specific circumstances.

[0038] The following specific embodiments illustrate the embodiments of the utility model, and those skilled in the art can easily understand other advantages and effects of the utility model from the contents disclosed in the specification. Obviously, the described embodiments are part of the embodiments of the utility model, not all embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary skilled in the art without creative labor belong to the scope of protection of the utility model.

[0039] As Figures 1-12 A single rope rail self-driven carrier, as shown in a kind of, including load-bearing steel cable 11, the load-bearing steel cable 11 is hung hanging assembly 2, the hanging assembly 2 is connected to pull rod 6, the lower end of the pull rod 6 is fixedly connected to the hanging box 3, the load-bearing steel cable 11 does not do cyclic movement, its both ends are fixed, and the closely arranged tooth ring 12 is sleeved on it, the tooth ring 12 and load-bearing steel cable 11 jointly constitute rope rail 1;Still including self-driving assembly 4, the self-driving assembly 4 includes lithium battery pack, drive motor 41, drive wheel 42, control mechanism and control system, wherein, the lithium battery pack is fixedly arranged in the inside or outside of hanging box 3, provides power for the whole self-driving assembly 4;The drive motor 41 is fixedly installed on hanging assembly 2, and the output end is drivingly connected with drive wheel 42;The drive wheel 42 is arranged in the inside of hanging assembly 2, and is engaged with the tooth ring 12 on the rope rail 1;The control mechanism and control system are arranged in the inside of hanging box 3, the control mechanism is used for receiving the operation instruction of operator, the control system is electrically connected with lithium battery pack and drive motor 41 respectively, according to the instruction of control mechanism, the operation of drive motor 41 is controlled, and then drive wheel 42 is rolled on tooth ring 12, the autonomous movement of hanging box 3 along rope rail 1 is realized.

[0040] The single-rope track self-driven vehicle of the present embodiment includes three parts: a fixed load-bearing steel cable 11, a suspension assembly 2, and a hanging box 3. The load-bearing steel cable 11 is fixed at both ends to a support structure and is closely sleeved with a tooth ring 12 to form a rope track 1 that has both load-bearing and transmission functions. The suspension assembly 2 is hung below the load-bearing steel cable 11 through a mechanical connector and is rigidly connected to the hanging box 3 through a pull rod 6 to form the main frame of the vehicle. The core driving part is realized by a self-driving assembly 4, which includes a lithium battery pack, a driving motor 41, a driving wheel 42, a control mechanism, and a control system. The lithium battery pack is fixed inside or outside the hanging box 3 as a power source. The driving motor 41 is installed on the suspension assembly 2 and is connected to the driving wheel 42 through a transmission mechanism. The driving wheel 42 is located inside the suspension assembly 2 and is in meshing transmission relationship with the tooth ring 12 on the rope track 1 through a toothed structure. After receiving an operation instruction, the control mechanism coordinates the operating parameters of the driving motor 41, and the driving wheel 42 rolls through the meshing with the tooth ring 12 to drive the hanging box 3 to move directionally along the rope track 1. This design realizes the autonomous running capability of the vehicle on a fixed line through the combination of rigid rope track and distributed driving.

[0041] In another preferred embodiment, the tooth ring 12 has two types: one is an integrated tooth ring 121, and the other is a split tooth ring 122. Initially, a plurality of integrated tooth rings 121 are sleeved between two split tooth rings 122 to prevent the tooth ring from moving when it is installed, and when an integrated tooth ring 121 is damaged, the split tooth ring 122 is used to replace the damaged integrated tooth ring 121. The integrated tooth ring 121 includes a sleeve 1211 that is in clearance fit with the load-bearing steel cable 11, and the middle part of the sleeve 1211 is a involute annular tooth 1212. The length of the sleeve 1211 is greater than the width of the annular tooth 1212, so that the tooth spacing is formed between adjacent tooth rings 12. The split tooth ring 122 is composed of two halves 1221 that are cut from the integrated tooth ring 121 along its axial symmetry plane. Each half 1221 retains the half-cylinder structure of the sleeve 1211 and the half-tooth structure of the annular tooth 1212. The two halves 1221 are fixed by screws 1222 that penetrate through the radial direction, and after splicing, the complete tooth ring structure is formed. The fastening force of the screws 1222 tightly grips the inner surface of the half 1221 to the load-bearing steel cable 11. The segmented fixation enhances the stability of the tooth ring on the load-bearing steel cable and reduces the movement. The involute annular tooth is beneficial to the smooth meshing of the driving wheel and improves the transmission efficiency. When the integrated tooth ring is damaged, it can be quickly replaced by the split tooth ring, reducing the difficulty and cost of maintenance and improving the maintainability of the equipment.

[0042] In another preferred embodiment, the driving wheels 42 are three, and each of the driving wheels 42 is uniformly arranged with a plurality of concave teeth 421 engaged with the tooth ring 12. Three driving wheel shafts 48 are respectively fixedly connected with the three driving wheels 42, and the two ends of each driving wheel shaft 48 pass through the driving wheel 42 and are sleeved with a bearing 23. The suspension assembly 2 comprises a hook body 21 composed of a short side plate 211, a long side plate 212, and a top plate 213 fixedly connected with the two. Three pairs of flanges 22 are respectively fixedly arranged on the inner sides of the short side plate 211 and the long side plate 212. The bearings 23 are respectively installed in the flanges 22, so that the three driving wheel shafts 48 are rotatably arranged on the hook body 21. The left end of the three driving wheel shafts 48 arranged from left to right passes through the long side plate 212 and is fixedly connected with a left sprocket 43, a middle sprocket 44, and a right sprocket 45 through splines. The driving motor 41 is provided with a reducer and is fixedly installed on the top plate 213. The output shaft of the driving motor 41 is fixedly connected with a top sprocket 46. The middle sprocket 44 is a three-piece structure, and the other sprockets are single-piece structures. The middle sprocket 44 is connected with the left sprocket 43, the right sprocket 45, and the top sprocket 46 through chains 47 to realize power transmission. The design of multiple driving wheels increases the engagement points with the tooth ring, improves the stability and reliability of driving force transmission. The chain sprocket transmission mode can effectively transmit the power of the driving motor to each driving wheel, and the structure is simple and easy to maintain. The three-piece middle sprocket design can better adapt to the transmission needs between different sprockets, ensuring the efficiency of power transmission.

[0043] In another preferred embodiment, the upper positions of the driving wheels 42 on the left and right sides in the hook body 21 are rotatably connected with the middle parts of a left large arm 24 and a right large arm 25 respectively. The two ends of the left large arm 24 and the right large arm 25 are rotatably connected with the middle parts of a front small arm 26 and a rear small arm 27 respectively. The two ends of the front small arm 26 and the rear small arm 27 are respectively rotatably connected with support wheels 28, and the axial directions of the support wheels 28 are consistent with the axial directions of the driving wheels 42. The support wheels 28 are in rolling cooperation with the rope rail 1. The outer circumferential surfaces of the support wheels 28 are in contact with the outer surfaces of the load-bearing steel cables 11, and the contact surface height is lower than the engagement surface height of the driving wheels 42 and the tooth ring 12, so that the support wheels 28 bear the entire weight of the hook body 21, and the driving wheels 42 only transmit driving force through the tooth ring 12. The support wheels bear the weight of the hook body, so that the driving wheels focus on transmitting driving force, reducing the load of the driving wheels and improving the service life and transmission efficiency of the driving wheels. At the same time, the design of the multi-link structure enables the support wheels to better adapt to the shape changes of the rope rail, ensuring the stability of the carrier operation.

[0044] In another preferred embodiment, the inner ends of the left and right large arms 24 and 25 are respectively fixedly connected to one end of a tension spring 29, and the other ends of the two tension springs 29 are fixedly connected to the top plate 213 above the driving wheel 42, so that the support wheel 28 on the outer side has a tendency to abut against the rope rail 1. When the rope rail 1 is uneven, curved, or shakes during the operation of the carrier, the support wheel 28 can always maintain close contact with the rope rail 1 under the self-adaptive adjustment of the tension of the tension spring 29, thereby ensuring that the hook body 21 stably floats on the rope rail 1 and realizing the self-adaptive adjustment function during the operation of the carrier. Even in the case of uneven rope rail or carrier shaking, the support wheel can maintain close contact with the rope rail, thereby improving the stability and safety of the operation of the carrier.

[0045] In another preferred embodiment, the hub of the support wheel 28 is embeddedly installed with a micro bearing 281 at both ends, the support wheel shaft 282 passes through the inner ring of the micro bearing 281, the short side plate 211 and the long side plate 212 of the hook body 21 in sequence, and is locked by a pin 283, so that the support wheel 28 can freely rotate around the support wheel shaft 282; the outer circumferential surface of the support wheel 28 is provided with an annular recessed groove 284 in the circumferential direction, the cross section of the annular recessed groove 284 is in the form of a sine curve, the opening width is greater than the diameter of the tooth ring 12 of the rope rail 1, and the curvature radius of the groove bottom matches the outer diameter of the tooth ring 12; when the support wheel 28 is in rolling cooperation with the rope rail 1, the tooth ring 12 enters the annular recessed groove 284, and the radial constraint of the sine curve type groove wall to the tooth ring 12 realizes the guiding function. The free rotation design of the support wheel reduces the friction during operation and improves the operation efficiency. The annular recessed groove in the form of a sine curve can effectively radially constrain the tooth ring, providing good guiding function for the carrier and ensuring the accurate operation of the carrier along the rope rail.

[0046] In another preferred embodiment, a rope rail fixing and connecting mechanism 5 is further included, which comprises an L-shaped connecting fixing plate 51 fixed with a rope rail tower or a rope rail mounting foundation, the middle part of the vertical plate of the connecting fixing plate 51 is recessed to form an upper suspension protrusion 52 and a lower suspension protrusion 53, the upper end of the vertical plate of the connecting fixing plate 51 is processed to form a rack 54 with the same shape as the upper half of the tooth ring 12 of the rope rail 1 and capable of engaging with the driving wheel 42, an L-shaped round corner hole 56 is formed in the upper suspension protrusion 52 and smoothly transitions inside, a through hole 57 is formed in the lower suspension protrusion 53, one end of the load-bearing steel cable 11 of the rope rail passes through the L-shaped round corner hole 56 and is welded with a tensioning screw 111, the tensioning screw 111 passes through the through hole 57 and is screwed with a tensioning nut 58 and a back tensioning nut 59, the tooth ring 12 is sleeved on the load-bearing steel cable 11 outside the upper suspension protrusion 52, the tooth ring 12 is tightly abutted against the upper suspension protrusion 52 under the action of the tensioning nut 58 and the back tensioning nut 59, and the tooth ring 12 is butted against the rack 54. This embodiment can implement a segmented construction architecture, divide the load-bearing steel cable into multiple segments for independent erection, flexibly deploy the short-distance steel cable by using a special connecting mechanism, avoid the dependence of the traditional system on large equipment for whole-cable laying, and support segmented extension around obstacles in complex terrain areas; the tower structure relies on light materials and modular design, adopts support members with small pipe diameters or directly uses mountain protrusions as anchor points, omits the concrete base construction link, greatly compresses the construction period of a single tower; in terms of maintenance and expansion, the quick replacement of the local steel cable or tooth ring is realized by using a detachable connecting assembly, and when a new transportation line is added, only the segmented rope rail needs to be connected and expanded, which significantly reduces the operation and maintenance cost and the loss due to shutdown; the engagement interface of the tooth ring and the rack of the connecting mechanism is designed by using a standardized module matching, and the smooth transition structure of the guide groove is combined, which not only ensures the stability of power transmission but also allows for construction and installation errors, greatly reducing the dependence on precision equipment; in terms of comprehensive cost control, the high utilization rate of the short steel cable reduces material waste, and the segmented operation mode reduces labor input, which is especially suitable for small and medium-sized transportation scenes in remote areas. Compared with the high equipment dependence of the traditional steel cable system and the foundation construction limitation of the rack rail system, the utility model realizes a breakthrough in construction efficiency, terrain adaptability and economic efficiency in the whole life cycle.

[0047] In another preferred embodiment, the suspension assembly 2 comprises a hook body 21, which is composed of a short side plate 211, a long side plate 212 and a top plate 213 fixedly connected with the two; the short side plate 211 corresponds to the inner side of the connection fixed plate 51, the long side plate 212 corresponds to the outer side of the connection fixed plate 51, and the height of the short side plate 211 is less than the height of the vertical plate of the connection fixed plate 51. This matching manner makes the suspension assembly more smooth when passing through the rope rail connection, reduces the possibility of interference, and ensures the continuous operation of the carrier in the entire rope rail system.

[0048] In another preferred embodiment, a MEMS accelerometer for detecting the pitch angle and acceleration is installed in the suspension assembly 2, and a load current sensor is additionally installed on the bus of the driving motor 41; when the MEMS accelerometer detects that the pitch angle is greater than a preset downhill threshold value and / or the acceleration is greater than a preset value, it is judged that the carrier enters the descending stage, the control system disconnects the power supply to the driving motor 41 and switches the driving motor 41 to the regenerative braking mode to reversely charge the lithium battery pack; when the MEMS accelerometer detects that the pitch angle is greater than a preset uphill threshold value, it is judged that the carrier enters the climbing stage. Through accurate judgment of the running stage of the carrier, energy recycling is realized. In the descending stage, the driving motor is switched to the regenerative braking mode to charge the lithium battery pack, which improves the energy utilization efficiency and reduces the operating cost. At the same time, according to the corresponding control in different running stages, it is also helpful to improve the safety and stability of the carrier operation.

[0049] In another preferred embodiment, the operating mechanism includes an automatic driving mode button, a manual driving mode button, a joystick and an emergency brake pedal; in the automatic driving mode, the joystick and the emergency brake pedal are electrically controlled and locked, the vehicle is automatically controlled by the control system according to the extension direction of the cable track 1 to drive the positive operation of the driving motor 41, and the preset cruising speed is maintained; in the manual driving mode, the joystick and the emergency brake pedal are unlocked, when the joystick is in the neutral position, the driving motor 41 maintains the current rotating speed, and the vehicle travels at a constant speed; when the joystick is pushed forward, the driving motor 41 is positively accelerated, and the acceleration is proportional to the forward displacement amount of the joystick; when the joystick is pulled backward, the driving motor 41 enters the regenerative braking mode, and the deceleration is proportional to the backward displacement amount of the joystick; the emergency brake pedal is an electrical linkage device, when the vehicle is on a flat road or in a descending stage, the emergency brake pedal is stepped on, the driving motor 41 is switched to the maximum regenerative braking mode, the output reverse torque is more than 200% of the rated torque, and the power supply of the lithium battery pack is cut off at the same time; when the vehicle is in a climbing stage, the emergency brake pedal is electrically controlled and locked to prevent misoperation from interrupting the power output of the driving motor 41, and ensure the safety of the vehicle climbing. This embodiment provides two modes of automatic driving and manual driving, which meets different use requirements. In the manual driving mode, the operation mode of the joystick is intuitive and convenient, which can enable the operator to flexibly control the speed of the vehicle according to the actual situation. The different control modes of the emergency brake pedal in different running stages not only ensure the braking effect in emergency situations, but also avoid safety problems caused by misoperation in the climbing stage, thereby improving the safety and operability of the vehicle.

[0050] In terms of support frame construction, the system uses a light steel structure or a prefabricated concrete base as the main support structure, which can be erected by being fixed at both ends to anchoring points in the mountain or on the ground. Unlike the steel tower of tens of meters high in traditional cableways, this scheme allows anchoring with the aid of natural terrain features (such as rock wall protrusions, existing bridge piers), and even uses suspension bridge type stay cables to assist fixation in canyon terrain, greatly reducing the amount of concrete pouring. The support frame height is usually controlled within 8-15 meters, and a bolt splicing design is adopted, which can be disassembled and transported by mules to the construction site for assembly during mountain transportation.

[0051] The passenger and cargo platform adopts modular design and is flexibly configured according to the terrain conditions. The personnel boarding and alighting area is provided with extendable anti-skid steps, the height difference is adjusted by a hydraulic device, and a folding guardrail is matched to ensure safety; the cargo loading and unloading area is provided with a track docking type conveyor belt, which can automatically match the height of the box bottom plate, and a special designed rotating loading and unloading platform capable of bearing 2 tons is designed for heavy materials such as fire-fighting water tanks, which can complete the tank hoisting and locking through remote control. In steep areas, toothed rail elevators can also be added to realize vertical transportation on a 70-degree slope.

[0052] The station layout adopts a "main line + branch line" mode, the main line sets core stations at intervals of 500-800 meters, and the branch line extends to the loading and unloading points through detachable adapters. When the carrier arrives at the station, the driving motor is switched to a precise positioning mode, and a laser ranging sensor is used to achieve a ±5cm docking accuracy. During the start-up stage, a slow start algorithm is adopted, the driving wheel gradually increases the meshing depth with the gear ring to avoid excessive instantaneous torque; during landing, a three-stage braking system (motor reverse drag + hydraulic damping + mechanical ratchet) is used to ensure smooth stopping. When running at night, the station is equipped with LED guide lights and a voice prompting system.

[0053] To adapt to diversified transportation needs, the hanging box is designed as a standard container interface. The passenger version is equipped with panoramic glass windows and folding seats, and the freight version can be quickly converted into an open cargo rack, a sealed cargo tank or a special transport cabin. For example, when transporting fire-fighting water tanks, the cabin is pre-installed with anti-shaking support and quick water filling and draining interface, and an unmanned aerial vehicle delivery cabin is installed on the top to realize air-ground coordinated delivery on the edge of the fire site. A magnetic levitation damping cabin is also developed for fragile materials, which reduces the vibration amplitude by 90% during transportation.

[0054] In terms of downhill running control, the system is provided with an intelligent speed control mode. During normal downhill, the driving motor automatically enters the energy recovery state to accurately control the sliding speed by adjusting the power generation; when it is necessary to quickly pass through a steep slope section, it can be switched to a power-assisted mode, the motor outputs a boost force of 20% torque in the opposite direction, so that the carrier can maintain a safe speed of 25km / h on a 15-degree slope. In emergency, the dive mode is started, and the maximum speed can reach 50km / h after the power restraint is released, at which time the disc brake system of the support wheel group is synchronously involved to ensure safety.

[0055] The application scenarios of the system are focused on three major fields: in scenic tours, the transparent panoramic hanging box can become an "air viewing platform" to set up dynamic tour routes along the valley and waterfall; in border mountain and forest patrol, the patrol version equipped with infrared cameras and material delivery cabins can realize 80km unmanned patrol; for mountain and forest economic development, the modular cargo cabin can transport high-priced mountain goods such as pine mushrooms and medicinal materials, and cooperate with the cold chain assembly to reduce the fresh food loss rate from 30% to below 5%. In addition, the system reserves a 5G communication interface and an emergency power supply cabin, which can be used as a "lifeline" transportation system for rapid deployment in wartime.

[0056] The above only describes the preferred embodiments of the present application, and is not intended to limit the present application. Any modification, equivalent replacement, improvement, 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 single-rope rail self-driven vehicle, comprising a load-bearing steel cable (11), the load-bearing steel cable (11) being hung with a suspension assembly (2), the suspension assembly (2) being connected with a lower adapter pull rod (6), and a lower end of the pull rod (6) being fixedly connected with a hanging box (3), characterized in that, The load-bearing steel cable (11) does not make a circulating movement, its two ends are fixed, and a closely arranged tooth ring (12) is sleeved thereon, and the tooth ring (12) and the load-bearing steel cable (11) jointly constitute a rope rail (1); it also comprises a self-driving assembly (4), the self-driving assembly (4) comprises a lithium battery pack, a driving motor (41), a driving wheel (42), a control mechanism and a control system, wherein the lithium battery pack is fixedly arranged inside or outside the hanging box (3) to provide power for the entire self-driving assembly (4); the driving motor (41) is fixedly installed on the suspension assembly (2), and the output end is in transmission connection with the driving wheel (42); the driving wheel (42) is arranged inside the suspension assembly (2) and is in engagement with the tooth ring (12) on the rope rail (1); the control mechanism and the control system are arranged inside the hanging box (3), the control mechanism is used for receiving the operation instruction of the operator, the control system is electrically connected with the lithium battery pack and the driving motor (41) respectively, the operation of the driving motor (41) is controlled according to the instruction of the control mechanism, and then the driving wheel (42) is driven to roll on the tooth ring (12), so that the hanging box (3) moves along the rope rail (1) autonomously.

2. The single-rail self-propelled vehicle according to claim 1, characterized in that, The tooth ring (12) has two kinds, one is an integral tooth ring (121), and the other is a split tooth ring (122); initially installed, a plurality of integral tooth rings (121) are sleeved between two split tooth rings (122) to prevent the tooth ring from moving, and when one integral tooth ring (121) is damaged, the split tooth ring (122) is used to replace the damaged integral tooth ring (121); the integral tooth ring (121) comprises a sleeve (1211) in gap cooperation with the load-bearing steel cable (11), the middle part of the sleeve (1211) is a involute ring tooth (1212), and the length of the sleeve (1211) is greater than the width of the ring tooth (1212), so that the tooth spacing is formed between the adjacent tooth rings (12); the split tooth ring (122) is composed of two halves (1221) cut along the axial symmetry plane of the integral tooth ring (121), each half (1221) retains the half-cylinder structure of the sleeve (1211) and the half-tooth structure of the ring tooth (1212); the two halves (1221) are fixedly connected by a screw (1222) penetrating through the radial direction, and the complete tooth ring structure is formed after splicing, and the fastening force of the screw (1222) tightly clamps the inner surface of the half (1221) to the load-bearing steel cable (11).

3. The single-rail self-propelled vehicle according to claim 1, wherein, The drive wheel (42) is 3, the circumferential uniform array of each drive wheel (42) is provided with a plurality of concave teeth (421) engaged with the gear ring (12), 3 drive wheel shafts (48) are respectively fixedly connected with 3 drive wheels (42), both ends of each drive wheel shaft (48) penetrates the drive wheel (42), and the bearing (23) is sleeved on the penetrating part; the suspension assembly (2) comprises a hook body (21), the hook body (21) is composed of a short side plate (211), a long side plate (212) and a top plate (213) fixedly connected with the two; the inner side of the short side plate (211) and the long side plate (212) is provided with three pairs of flanges (22) correspondingly; the bearing (23) is respectively installed in the flange (22), so that the three drive wheel shafts (48) are rotatably arranged on the hook body (21); the left end of the three drive wheel shafts (48) is arranged in the gap of the long side plate (212), and is fixedly connected with the left sprocket (43), the middle sprocket (44) and the right sprocket (45) through the spline; the drive motor (41) is provided with a reducer, and is fixedly installed on the top plate (213); the output shaft of the drive motor (41) is fixedly connected with the top sprocket (46); wherein, the middle sprocket (44) is a three-piece structure, and the remaining sprockets are single-piece structures; the middle sprocket (44) is connected with the left sprocket (43), the right sprocket (45) and the top sprocket (46) through the chain (47) to realize power transmission.

4. The single-rail self-propelled vehicle according to claim 3, characterized in that, In the hook body (21), the upper positions of the left and right drive wheels (42) are rotatably connected with the middle parts of the left and right large arms (24) and (25) respectively; the two ends of the left and right large arms (24) and (25) are rotatably connected with the middle parts of the front and rear small arms (26) and (27) respectively; the two ends of the front and rear small arms (26) and (27) are rotatably connected with the support wheels (28) respectively, and the axial directions of the support wheels (28) are consistent with the axial directions of the drive wheels (42); the support wheels (28) are in rolling fit with the rope rail (1); the outer circumferential surface of the support wheel (28) is in contact with the outer surface of the load-bearing steel cable (11), and the contact surface height is lower than the engagement surface height of the drive wheel (42) and the gear ring (12), so that the support wheel (28) bears the whole weight of the hook body (21), and the drive wheel (42) only transmits driving force through the gear ring (12).

5. The single-rail self-propelled vehicle according to claim 4, characterized in that, The inner ends of the left and right large arms (24) and (25) are fixedly connected with one end of the tension spring (29), and the other ends of the two tension springs (29) are fixedly connected with the top plate (213) above the middle drive wheel (42), so that the support wheels (28) on the outer side have the tendency of abutting against the rope rail (1).

6. The single-rail self-propelled vehicle according to claim 4, wherein, The hub of the support wheel (28) is embeddedly installed with a micro bearing (281), the two ends of the support wheel shaft (282) pass through the inner ring of the micro bearing (281), the short side plate (211) and the long side plate (212) of the hook body (21) in sequence, and are locked by a pin (283), so that the support wheel (28) can freely rotate around the support wheel shaft (282); the outer circumferential surface of the support wheel (28) is provided with an annular recessed groove (284) in the circumferential direction, the cross section of the annular recessed groove (284) is a sinusoidal curve type, the opening width is greater than the diameter of the tooth ring (12) of the rope rail (1), and the groove bottom curvature radius matches the outer diameter of the tooth ring (12); when the support wheel (28) is in rolling cooperation with the rope rail (1), the tooth ring (12) enters the annular recessed groove (284), and the radial constraint of the sinusoidal curve type groove wall to the tooth ring (12) realizes the guiding function.

7. The single-rail self-propelled vehicle according to claim 1, wherein, It also includes a rope rail fixing and connecting mechanism (5), the rope rail fixing and connecting mechanism (5) includes an L-shaped connecting fixing plate (51) fixed with a rope rail tower or a rope rail installation foundation, the inner side of the connecting fixing plate (51) is recessed in the middle of the two ends of the stand plate to form an upper suspension protrusion (52) and a lower suspension protrusion (53), a rack (54) with the same shape as the upper half of the tooth ring (12) of the rope rail (1) and capable of engaging with the driving wheel (42) is processed on the upper end of the stand plate of the connecting fixing plate (51), an L-shaped round corner hole (56) is formed on the upper suspension protrusion (52), the inside of the L-shaped round corner hole (56) is smoothly transitioned, a through hole (57) is formed on the lower suspension protrusion (53), one end of the load-bearing steel cable (11) of the rope rail passes through the L-shaped round corner hole (56) and is welded with a tensioning screw (111), the tensioning screw (111) passes through the through hole (57) and is screwed with a tensioning nut (58) and a back tensioning nut (59), a tooth ring (12) is sleeved on the load-bearing steel cable (11) outside the upper suspension protrusion (52), the tooth ring (12) is tightly abutted against the upper suspension protrusion (52) under the action of the tensioning nut (58) and the back tensioning nut (59), and the tooth ring (12) is in butt joint with the rack (54).

8. The single-rail self-propelled vehicle according to claim 7, characterized in that, The suspension assembly (2) includes a hook body (21), the hook body (21) is composed of a short side plate (211), a long side plate (212) and a top plate (213) fixedly connected with the two plates, the short side plate (211) corresponds to the inner side of the connecting fixing plate (51), the long side plate (212) corresponds to the outer side of the connecting fixing plate (51), and the height of the short side plate (211) is less than the height of the stand plate of the connecting fixing plate (51).

9. The single-rail self-propelled vehicle according to claim 1, wherein, A MEMS accelerometer is installed in the suspension assembly (2) to detect the pitch angle and acceleration, and a load current sensor is installed on the bus of the drive motor (41); when the MEMS accelerometer detects that the pitch angle is greater than a preset downhill threshold and / or the acceleration is greater than a preset value, it is determined that the vehicle enters the descending stage, the control system disconnects the power supply to the drive motor (41) and switches the drive motor (41) to the regenerative braking mode to reverse charge the lithium battery pack; when the MEMS accelerometer detects that the pitch angle is greater than a preset uphill threshold, it is determined that the vehicle enters the climbing stage.

10. The single-rail self-propelled vehicle according to claim 9, characterized in that, The control mechanism includes an automatic driving mode button, a manual driving mode button, a joystick and an emergency brake pedal; in the automatic driving mode, the joystick and the emergency brake pedal are electrically locked, the vehicle is automatically controlled by the control system according to the extension direction of the rope rail (1) to drive the drive motor (41) to run forward, and the preset cruise speed is maintained; In the manual driving mode, the joystick and the emergency brake pedal are unlocked, when the joystick is in the neutral position, the drive motor (41) maintains the current speed, and the vehicle travels at a constant speed; when the joystick is pushed forward, the drive motor (41) is accelerated forward, and the acceleration is proportional to the forward displacement of the joystick; when the joystick is pulled backward, the drive motor (41) enters the regenerative braking mode, and the deceleration is proportional to the backward displacement of the joystick; the emergency brake pedal is an electrical linkage device, when the vehicle is on a flat road or in the descending stage, the emergency brake pedal is stepped on, the drive motor (41) is switched to the maximum regenerative braking mode, the output reverse torque is more than 200% of the rated torque, and the power supply of the lithium battery pack is cut off at the same time; when the vehicle is in the climbing stage, the emergency brake pedal is electrically locked to prevent misoperation from interrupting the power output of the drive motor (41) and ensure the safety of the vehicle climbing.

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