Trolley control method for eliminating downhill shaking of wall-climbing trolley

Abstract

The invention relates to the technical field of nondestructive inspection equipment, in particular to a trolley control method for eliminating downhill shaking of a wall-climbing trolley. According to the technical scheme, wheels on the two sides of the wall-climbing trolley are driven by adopting different driving motors, when the trolley is in a downhill state, the maximum torque of one side of the driving motors on the two sides is adjusted to be small, and the rotating speed is adjusted to be large, so that when the trolley is in the downhill state, the wall-climbing trolley is driven by the driving motors on the two sides. The driving motors on the two sides apply acting force in different directions to the trolley, and the moving state of the trolley is judged by detecting the output torque of the driving motors through drivers of the driving motors. The method has the beneficial effects that the situation that the meshing state between the driving motor and the wheels is unstable when the trolley goes downhill can be effectively avoided, the stability of the trolley in the downhill process is improved, a sensor does not need to be specially arranged for detecting the moving state of the trolley, and the related cost and the control difficulty of the trolley are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of non-destructive flaw detection equipment, and in particular to a trolley control method for eliminating the shaking of a wall-climbing trolley when going downhill. Background Art

[0002] In the non-destructive testing of large equipment, it is necessary to use a trolley with an ultrasonic flaw detector to move along the surface of the equipment for flaw detection. In order to effectively detect various positions on the surface of the equipment, the trolley needs to have a wall climbing function. Even on the steep surface or lower plane of the equipment, the trolley can still cling to the surface of the equipment. At present, most trolleys cling to the surface of the equipment by vacuum adsorption or magnetic adsorption. However, when the wall-climbing trolley is in a downhill state on the surface of the equipment, the downward component of the trolley's gravity along the slope is opposite to the friction force of the equipment surface on the trolley. When the two are equal in size, the meshing state of the drive motor and the wheel used to drive the trolley in the wall-climbing trolley will be unstable, that is, when the drive motor provides a downward force along the slope to the wheel, it will cause the trolley to accelerate downward, causing the drive motor speed to be less than the wheel speed, thereby causing the drive motor to provide an upward force along the slope to the wheel to cause the trolley to enter a deceleration state. After the trolley speed is reduced to a certain extent, the trolley will re-enter the acceleration state due to the inconsistency between the wheel speed and the drive motor speed, causing the trolley to shake when going downhill. Summary of the invention

[0003] The purpose of the present invention is to provide a trolley control method for eliminating the downhill shaking of a wall-climbing trolley, and specifically to provide a trolley control method for eliminating the downhill shaking with low cost and effectiveness.

[0004] To achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a trolley control method for eliminating the shaking of a wall-climbing trolley when going downhill, specifically comprising: the left wheel and the right wheel of the trolley are driven by different drive motors, the drive motor driving the left wheel is the left motor, and the drive motor driving the right wheel is the right motor; when the trolley is in a downhill state, the maximum torque of the drive motor on one side of the left motor and the right motor is limited to aT, wherein a<1, T is the maximum torque of the left motor and the right motor when the trolley is driving normally, and its rotation speed is set to bV, wherein b>1, V is the corresponding rotation speed of the drive motor when the trolley is driven at the current speed, and the other one or a group of drive motors are not changed, the maximum torque is set to T, and the rotation speed is set to V; at this time, the direction of the output torque of the drive motor with the maximum torque set to aT is the same as its rotation direction; the direction of the output torque of the drive motor with the maximum torque set to T is opposite to its rotation direction; in this way, the shaking occurring in the downhill process of the trolley can be eliminated, and the smooth driving of the trolley can be achieved.

[0005] Specifically, the car detects whether it is in a downhill state by the following method: when starting the detection, first control the car to brake; then set the maximum torque of the drive motor on one side of the left motor and the right motor to aT, and the rotation speed to bV, aT and bV are consistent with aT and bV described in claim 1, and the drive motor on the other side sets the maximum torque to T and the rotation speed to V; after releasing the brake, the car is controlled to move in the original direction, and at the same time, the torque of the left motor and the right motor is detected through the drivers of the left motor and the right motor. When the maximum torque is set to T and the rotation speed is set to V, the torque of the drive motor on one side does not exceed the set value cT, where c<1, it is considered that the car is in a downhill state where shaking needs to be eliminated, and the set parameters of the left motor and the right motor are kept unchanged.

[0006] Specifically, when detecting whether the car is in a downhill state, if it is detected that the torque of the driving motor on the side with the maximum torque set to T and the rotation speed set to V is greater than the set value cT, the car is considered to be in an overloaded uphill state, and the maximum torque is set to aT, and the rotation speed is set to bV. The maximum torque of the driving motor on the side is set to T, and the rotation speed is set to V.

[0007] The beneficial effect of the present invention is that different drive motors are used to drive the wheels on both sides of the wall-climbing trolley. When the trolley is in a downhill state, the maximum torque of one of the drive motors on both sides is reduced and the rotation speed is increased. As a result, when the trolley is going downhill, the drive motors on both sides exert forces on the trolley in different directions, thereby effectively avoiding instability caused by the meshing state between the drive motor and the wheel when the trolley is going downhill, thereby improving the stability of the trolley during the downhill process. DETAILED DESCRIPTION

[0008] Embodiment 1, a trolley control method for eliminating the shaking of a wall-climbing trolley when going downhill, specifically includes: the left wheel and the right wheel of the trolley are driven by different drive motors, the drive motor driving the left wheel is the left motor, and the drive motor driving the right wheel is the right motor; when the trolley is in a downhill state, the maximum torque of the drive motor on one side of the left motor and the right motor is limited to aT, wherein a<1, T is the maximum torque of the left motor and the right motor when the trolley is driving normally, and its rotation speed is set to bV, wherein b>1, V is the corresponding rotation speed of the drive motor when the trolley is driven at the current speed, and the other one or a group of drive motors are not changed, the maximum torque is set to T, and the rotation speed is set to V; at this time, the direction of the output torque of the drive motor with the maximum torque set to aT is the same as its rotation direction; the direction of the output torque of the drive motor with the maximum torque set to T is opposite to its rotation direction; thereby, the shaking occurring in the downhill process of the trolley can be eliminated, and the smooth driving of the trolley can be achieved. Since the maximum torque of the drive motor on one side is smaller and the rotation speed is faster, the drive motor on this side will provide a downward force along the slope to the car when the car is in a downhill state. In order to maintain the stable movement of the car, the drive motor on the other side provides an upward force along the slope to the car. Since the maximum torque of the drive motor on this side is larger, the car will move at a speed corresponding to the rotation speed of the drive motor on this side, while the drive motor on the other side with a smaller maximum torque is in a follow-up state.

[0009] In addition, in order to detect the moving state of the trolley, a gyroscope or other sensors can be used for detection, but this will involve more coordinated control. Therefore, this embodiment provides another method for judging the moving state of the trolley by detecting the output torque of the drive motor only through the driver of the drive motor, which is as follows: when starting the detection, first control the brakes of the trolley; then set the maximum torque of the drive motor on one side of the left motor and the right motor to aT, and the rotation speed to bV, aT and bV are consistent with aT and bV described in claim 1, and the drive motor on the other side sets the maximum torque to T and the rotation speed to V; after releasing the brake, control the trolley to move in the original direction, and at the same time detect the torque of the left motor and the right motor through the drivers of the left motor and the right motor, specifically, detect the output torque of the motor by detecting the output current of the driver. When the maximum torque is set to T and the rotation speed is set to V, the torque of the driving motor on the side does not exceed the set value cT, where c is less than 1. At this time, the car is in a non-overloaded uphill state (that is, the car may be moving in a plane or moving downhill or moving uphill with a small slope), and there is no need to adjust the parameters of the driving motor at this time. Therefore, it is uniformly determined that the car is in a downhill state where the jitter needs to be eliminated, and the set parameters of the left and right motors are kept unchanged; if it is detected that the torque of the driving motor on the side with the maximum torque set to T and the rotation speed set to V is greater than the set value cT, it is considered that the car is in an overloaded uphill state (that is, the car is in an uphill moving state with a larger slope). At this time, the car needs a larger driving force, so the maximum torque is set to aT and the rotation speed is set to bV. The maximum torque of the driving motor on the side is set to T, and the rotation speed is set to V.

[0010] Of course, the above are only preferred embodiments of the present invention, and are not intended to limit the scope of use of the present invention. Therefore, any equivalent changes made to the principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A trolley control method for eliminating the shaking of a wall-climbing trolley when going downhill, characterized in that: The left and right wheels of the car are driven by different drive motors. The drive motor driving the left wheel is the left motor, and the drive motor driving the right wheel is the right motor. When the car is in a downhill state, the maximum torque of one of the left and right motors is limited to aT, where a < 1, T is the maximum torque of the left and right motors when the car is driving normally, and its rotation speed is set to bV, where b > 1, V is the corresponding rotation speed of the drive motor when the car is driven at the current speed. The other drive motor or a group of drive motors is not changed, the maximum torque is set to T, and the rotation speed is set to V; At this time, the direction of the output torque of the driving motor with the maximum torque set to aT is the same as the direction of its rotation; the direction of the output torque of the driving motor with the maximum torque set to T is opposite to the direction of its rotation; this can eliminate the shaking that occurs during the downhill process of the trolley and achieve smooth driving of the trolley.

2. A method for controlling a wall-climbing vehicle to eliminate downhill shaking according to claim 1, characterized in that: The trolley detects whether it is in a downhill state by the following method: when starting the detection, first control the trolley to brake; then set the maximum torque of the drive motor on one side of the left motor and the right motor to aT, and the rotation speed to bV, aT and bV are consistent with aT and bV described in claim 1, and the drive motor on the other side sets the maximum torque to T and the rotation speed to V; after releasing the brake, control the trolley to move in the original direction, and at the same time detect the torque size of the left motor and the right motor through the drivers of the left motor and the right motor. When the maximum torque is set to T and the rotation speed is set to V, the torque size of the drive motor on one side does not exceed the set value cT, where c<1, it is considered that the trolley is in a downhill state where shaking needs to be eliminated, and the set parameters of the left motor and the right motor are kept unchanged.

3. A trolley control method for eliminating the downhill shaking of a wall-climbing trolley according to claim 2, characterized in that: When detecting whether the car is in a downhill state, if it is detected that the torque of the driving motor on the side with the maximum torque set to T and the rotation speed set to V is greater than the set value cT, the car is considered to be in an overloaded uphill state, and the maximum torque is set to aT, the rotation speed is set to bV, and the maximum torque of the driving motor on the side is set to T, and the rotation speed is set to V.