Permanent magnet, variable frequency drive, monorail lifting and handling robot powered by an explosion-proof lithium battery

Abstract

FIELD: transportation in coal mines.SUBSTANCE: invention presents a monorail lifting and transport robot with permanent magnets and a variable frequency drive, using an explosion-proof lithium battery. The monorail lifting and transport robot contains a state perception system and cabin, a lifting device, a power trolley and multiple drive units, all suspended on an overhead rail. Each drive unit contains a motor, and each motor has operating modes including constant power mode and constant torque mode. The main controller is configured to obtain the state of movement of the monorail lifting and transport robot based on the state perception system and control of the engine operating mode in accordance with the state of movement. In the present invention, the circumference of the drive wheel of the monorail lifting and transport robot can be determined, the motor can be given a different rotation speed, and the speed of each drive unit of the monorail lifting and transport robot can be adjusted in accordance with different operating conditions.EFFECT: synchronicity of each drive unit is ensured and the service life of the monorail lifting and transport robot is increased.10 cl, 4 dwg

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202410988977.2, filed with the China Patent Office on July 23, 2024, entitled "A monorail hoist transportation robot driven by permanent magnet and variable frequency of an explosion-proof lithium battery", which is incorporated herein by reference in its entirety.

[0003] FIELD OF TECHNOLOGY

[0004] The present invention relates to the field of transportation in coal mines, and more specifically relates to a monorail lifting and transport robot with permanent magnets and a variable frequency drive using an explosion-proof lithium battery.

[0005] BACKGROUND OF THE INVENTION

[0006] In response to the demands of actively building safe, highly productive, and efficient modern mines, the modernization of auxiliary transportation has become an important indicator for measuring the modernization level of a coal mine. The auxiliary transportation system of coal mines is characterized by complex and inconsistent transportation routes, multiple intermediate links, and varying dimensions of transported materials, significantly complicating tunnel transportation.

[0007] The monorail elevator, as a new type of auxiliary transportation equipment, has the advantages of being independent of ground conditions, convenient layout of transportation routes, space saving and high transportation efficiency, which has been appreciated by many coal mine equipment manufacturers and coal mine developers, and has broad development prospects.

[0008] Currently, lithium-battery monorail hoists are widely used as a new type of auxiliary transportation equipment in coal mines. However, since lithium batteries have lower energy density and insufficient power compared with diesel engines, lithium-battery monorail hoists use relatively more drive units, and the locomotive operates under high load conditions for relatively longer periods. This leads to the problem of drive unit asynchrony under changing operating conditions, such as when ascending or descending. Furthermore, since monorail hoists experience wheel slippage under different operating conditions, the diameters of the drive wheels of each drive unit of the monorail hoist are different, further exacerbating the asynchrony problem among multiple drive units.

[0009] SUMMARY OF THE INVENTION

[0010] In view of the above problems of the prior art, the present invention provides a monorail lifting and transport robot with permanent magnets and a variable frequency drive, using an explosion-proof lithium battery, wherein the robot moves along an overhead rail, the robot comprises a main controller, a state sensing system and a cabin, a lifting device and a plurality of drive units, all suspended on the overhead rail, the cabin is configured to control the monorail lifting and transport robot using the drive unit, and the lifting device is configured to load loads, each drive unit comprises a motor, and each motor has operating modes including a constant power mode and a constant torque mode;

[0011] The state sensing system is configured to detect the motion state of the monorail handling robot, and the main controller adjusts the operation mode of the motor based on the motion state obtained by the state sensing system, in particular:

[0012] When the state sensing system determines that the monorail handling robot is in a stable running state, the motor maintains constant power mode;

[0013] When the state sensing system detects that the monorail handling robot is in the acceleration start state, each motor accelerates in the constant torque mode, when the motor reaches the rated power, the motor working mode is switched to the constant power mode;

[0014] when the state sensing system determines that part of the drive units have started to climb the slope, the operating modes of the motors corresponding to the drive units not climbing the slope are switched to the constant torque mode, the resistance Fi increased by the drive units climbing the slope is evenly distributed to each drive unit, the drive units not climbing the slope are slowed down, and the rotation speed of the corresponding motor after deceleration is Ni, wherein Ni is required to be calculated and obtained based on the stable moving speed V of the monorail lifting and transport robot and the circumference Ci of the corresponding drive wheel, the stable moving speed V of the monorail lifting and transport robot is calculated and obtained based on the resistance Fi, when all the drive units reach the slope, the operating modes of the corresponding motors are switched to the constant power mode, when the state sensing system determines,that the cabin in the monorail lifting and transport robot moves down the slope, the operating modes of the motors corresponding to the drive units passing along the slope are switched to the constant torque mode, and thus the torque value corresponding to the constant torque mode is the value before the ascent;

[0015] when the state sensing system determines that some of the drive units have started to descend the slope, the operating modes of the motors corresponding to the drive units descending the slope are switched to the constant torque mode, so that the force Fj increased by the drive units descending the slope in the direction of travel is evenly distributed to each drive unit; when all drive units reach the slope, the operating mode of the motor corresponding to each drive unit is switched to the constant power mode; when the state sensing system determines that the cabin in the monorail lifting and transport robot is descending the slope, the operating modes of the motors corresponding to the drive units not descending the slope are switched to the constant torque mode.

[0016] In a preferred embodiment, the state sensing system comprises a camera and a laser radar; the camera and the laser radar are capable of detecting obstacles on the overhead rail; when the camera and the laser radar detect that there is an obstacle in front of the monorail lifting and transport robot, all the motors are slowed down by the drive units by reducing the magnitude and frequency of the motor input current voltage, and the motor operating modes are switched to a constant torque mode; when the monorail lifting and transport robot passes through an obstacle, the motors are accelerated by increasing the frequency of the motor input current voltage and the magnitude of the motor input current, and the motor operating modes are switched to a constant power mode after the motor reaches the rated power.

[0017] In a preferred embodiment, the monorail lifting and transport robot further comprises a power trolley suspended on the overhead rail, the drive unit further comprises a drive bracket, a clamping lever, a brake lever, a drive wheel, a brake cylinder, a brake shoe and a clamping cylinder, wherein the drive wheel is driven by a motor, the motor is fixed to the clamping lever, and one end of the clamping lever is suspended on the drive bracket, and the other end of the clamping lever is in connection with the clamping cylinder, the drive wheel is in close contact with the overhead rail under the action of the clamping cylinder, the brake lever is suspended on the drive bracket, the brake shoe is fixed to one end of the brake lever, and the other end of the brake lever is in connection with the brake cylinder, the brake shoe is in close contact with the overhead rail under the action of the brake cylinder, and all from the brake cylinder,The clamping cylinder and the motor are driven by a power trolley.

[0018] In a preferred embodiment, the state sensing system further comprises a displacement sensor configured to detect the telescopic displacement of the piston rod in the clamping cylinder, and the method for calculating the circumference Ci of the driving wheel comprises first calculating the compression amount of the driving wheel based on the data obtained by the displacement sensor after clamping the driving wheel, then calculating the radius of the corresponding driving wheel based on the compression amount of the driving wheel, and finally calculating the actual circumference Ci of the corresponding driving wheel.

[0019] In a preferred embodiment, the state sensing system further comprises a load sensor, wherein the load sensor is installed on the lifting device, the wear data of the drive wheel is calculated according to the actual circumference Ci of the drive wheel, when the load of the monorail lifting and transport robot is less than 40% of the set maximum load, the drive wheel, the wear data of which has reached a preset wear threshold, is released by the clamping cylinder, and the corresponding drive unit does not work.

[0020] In a preferred embodiment, the state sensing system further comprises a tilt sensor, the tilt sensor is installed on the top of the cabin and on the top of each drive unit, the tilt sensor is configured to detect the tilt θ of the slope, and the formulas for calculating Fi and Fj are as follows:

[0021]

[0022] where denotes the sum of the weight values ​​of the drive units climbing the slope and the loads carried by the corresponding drive units, denotes the sum of the weight values ​​of the drive units descending the slope and the loads carried by the corresponding drive units, and g denotes the acceleration due to gravity.

[0023] In a preferred embodiment, the formula for calculating the stable speed V of the monorail lifting and handling robot is:

[0024]

[0025] where P stands for the rated power of the motor, F stands for the driving resistance of the drive unit not descending the slope.

[0026] In a preferred embodiment, the formula for calculating the rotation speed Ni is:

[0027]

[0028] In a preferred embodiment, each motor is provided with an encoder and a drive device, the encoder is configured to monitor the actual rotation speed of the motor in real time, the main controller is configured to compare the actual rotation speed of the motor with the set optimal rotation speed to calculate the rotation speed error, and the pulse width modulation signal is supplied to the corresponding drive device in accordance with the rotation speed error, so that the rotation speed of the motor is controlled by the motor in real time.

[0029] In a preferred embodiment, the drive unit is provided with two sets of clamping levers, so that the drive wheels on the two sets of clamping levers are arranged symmetrically on both sides of the suspension rail.

[0030] In the present invention, the circumference of the drive wheel of the monorail lifting and transport robot can be determined, the motor can be set to a different rotation speed, and the speed of each drive unit of the monorail lifting and transport robot can be adjusted according to operating conditions such as ascent and descent, so as to ensure the synchronicity of each of the drive units and improve the service life of the monorail lifting and transport robot.

[0031] DESCRIPTION OF GRAPHIC MATERIALS

[0032] To more clearly describe the embodiments of the present invention or the technical solutions of the prior art, the following will briefly present the graphical materials necessary for use in the embodiments or descriptions of the prior art. Obviously, the graphical materials described below represent only some embodiments of the present invention; other graphical materials can be obtained by those of ordinary skill in the art based on these graphical materials without creative efforts.

[0033] Fig. 1 illustrates a general schematic diagram of a monorail lifting and transport robot driven by a permanent magnet and a variable frequency explosion-proof lithium battery according to the present invention.

[0034] Fig. 2 illustrates a schematic diagram of a drive unit according to the present invention.

[0035] Fig. 3 illustrates a schematic diagram of a state sensing system according to the present invention.

[0036] Fig. 4 illustrates a schematic diagram of a drive unit motor according to the present invention.

[0037] On the graphic materials: 1. cabin; 2. lifting device; 3. power trolley; 4. drive unit; 41. drive bracket; 42. clamp lever; 43. brake lever; 44. engine; 45. drive wheel; 46. brake cylinder; 47. brake shoe; 48. clamp cylinder; 5. connecting rod; 6. hanging rail.

[0038] DETAILED DESCRIPTION OF IMPLEMENTATION OPTIONS

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments do not represent all the embodiments, but only a part of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative work fall within the scope of legal protection of the present invention.

[0040] As illustrated in Fig. 1, a monorail lifting robot driven by a permanent magnet and a variable frequency explosion-proof lithium battery moves along an overhead rail 6.

[0041] A monorail lifting robot driven by a permanent magnet and a variable frequency explosion-proof lithium battery comprises a state sensing system and a cabin 1, a lifting device 2, a power trolley 3, and a plurality of drive units 4 connected by a connecting rod 5 and suspended on an overhead rail 6. The cabin 1 can be located at both ends of the monorail lifting and transport robot to facilitate control. Each drive unit 4 comprises a motor 44, and each motor 44 has operating modes including a constant power mode and a constant torque mode.

[0042] As illustrated in Fig. 2, the drive unit 4 includes a drive bracket 41, a clamp lever 42, a brake lever 43, a motor 44, a drive wheel 45, a brake cylinder 46, a brake shoe 47 and a clamp cylinder 48. The drive bracket 41 is taken as a base, and each component is mounted on the drive bracket 41. The drive wheel 45 drives the motor 44, and a permanent magnet synchronous motor is used as the motor 44. The motor 44 is fixed on the clamping lever 42, one end of the clamping lever 42 is suspended on the drive bracket 41, and the other end of the clamping lever 42 is in connection with the clamping cylinder 48. The driving wheel 45 is in tight contact with the overhead rail 6 under the action of the clamping cylinder 48, so that the monorail lifting and transport robot, driven by the driving wheel 45, moves along the overhead rail 6.The brake lever 43 is suspended on the drive bracket 41, and the brake shoe 47 is fixed on one end of the brake lever 43, and the other end of the brake lever 43 is in connection with the brake cylinder 46. The brake shoe 47 can be in tight contact with the suspension rail 6 under the action of the brake cylinder 46 and is configured to brake the drive unit 4.

[0043] In this embodiment, it is preferable that the drive unit 4 is provided with two sets of clamping levers 42, so that the drive wheels 45 on the two sets of clamping levers 42 are arranged symmetrically on both sides of the suspension rail 6 for stable movement. In addition, the brake cylinder 46 is a bidirectional cylinder, and both ends of the brake cylinder 46 are respectively connected to the brake lever 43, so that the brake shoes 47 in connection with the two brake levers 43 are arranged symmetrically on both sides of the suspension rail 6 for stable braking. In addition, two sets of brake cylinders 46 are provided, and the brake shoes 47 corresponding to the two sets of brake cylinders 46 are arranged on both sides of the drive wheel 45 for further stable braking.

[0044] The brake cylinder 46, the clamping cylinder 48, and the motor 44 are driven by the power trolley 3. The power trolley 3 comprises an explosion-proof lithium battery, a flame-proof motor, a hydraulic pump, and other components. The flame-proof motor and the hydraulic pump are configured to supply power to the brake cylinder 46 and the clamping cylinder 48 of each drive unit 4, and the explosion-proof lithium battery is configured to supply power to the motor 44 of each drive unit 4 and the entire monorail lifting and transport robot.

[0045] As illustrated in Fig. 3, the state sensing system comprises a camera, a laser radar, a tilt sensor, a load sensor and a main controller. Obstacles can be detected by the camera and the laser radar on the overhead rail 6, and it is preferable that the camera and the laser radar are installed in the front part of the cab 1. It is preferable to use an infrared camera as the camera, and two laser radars are preferably installed on both sides of the cab 1. The tilt sensor is installed on the upper part of the cab 1 and on the upper part of each drive unit 4 and is configured to detect the tilt of the cab 1 and the drive unit 4, that is, the inclination angle of the slope, to facilitate the detection of the running state of the locomotive, and the load sensor is installed on the lifting device 2 and is configured to detect the load on the lifting device 2.

[0046] The main controller is configured to obtain the movement state of the monorail lifting and transport robot by means of information obtained by the state perception system, and to adjust the control strategy of the motor 44 in accordance with the movement state of the monorail lifting and transport robot, which includes the following.

[0047] Operating conditions on a flat surface

[0048] When the state sensing system determines that the monorail handling robot is in a stable running state, motor 44 maintains constant power mode.

[0049] When the state sensing system determines that the monorail handling robot is in the acceleration start state, the motor 44 accelerates in the constant torque mode, and when the power of the motor 44 reaches the rated power, the working mode of the motor 44 is changed to the constant power mode

[0050] Operating conditions when lifting

[0051] When the state sensing system determines that part of the drive units 4 have started to climb the slope, and part of the drive units have not started to climb, the main controller is configured to issue a command to reduce the output torque of the motor 44 of the drive unit 4 that is not climbing the slope, and to switch the operating mode to a constant torque mode, and the motors 44 corresponding to the drive units 4 that have started to climb remain in the constant power mode for climbing.

[0052] The resistance Fi increased by the incline-climbing drive units 4 is uniformly distributed to each drive unit 4, and the different rotation speeds Ni of the non-climbing drive units 4 are obtained and calculated based on the stable driving speed V and the circumference Ci of the drive wheel 45, and the speed is immediately reduced. The stable driving speed V is the speed at which the incline-climbing drive unit 4 finally moves stably along the overhead rail 6 under constant power mode.When all drive units 4 reach the slope, the operating modes of all drive units 4 are switched to constant power mode. When the monorail robot detects that cabin 1 is descending the slope, i.e., the carriage is descending the slope, and at this moment the rear drive units 4 continue to ascend, the torque of the drive unit 4 traveling up the slope immediately decreases to the value it had before ascending, and the operating mode is switched to constant torque mode. After all drive units 4 have passed the slope, the operating modes of the motors 44 in all drive units 4 are switched to constant power mode for acceleration, where denotes the sum of the weight values ​​of the drive unit 4 climbing the slope and the loads carried by the corresponding drive units 4, g denotes the acceleration of gravity, and θ denotes the angle of inclination of the slope.

[0053] Descent Operating Conditions

[0054] When the state sensing system determines that part of the drive units 4 have started to descend the slope, and part of the drive units 4 have not started to descend the slope, the main controller is configured to issue a command to reduce the output torque of the drive units 4 descending the slope and switch the operating mode to the constant torque mode, and the drive units 4 not descending the slope remain in the constant power mode.

[0055] The force Fj increased by the drive units 4 descending the slope in the direction of travel is uniformly distributed to each drive unit 4. The output force of the drive unit 4 descending the slope is reduced to maintain the movement of the entire locomotive at the same speed. When all the drive units 4 reach the slope, the operating modes of all the drive units 4 are switched to the constant power mode. When the monorail handling robot detects that the cabin 1 is descending the slope and the rear drive unit 4 continues to descend at this time, the output force of the drive unit 4 not descending the slope is reduced, and the operating modes are switched to the constant torque mode. After all the drive units 4 reach a level surface, all the operating modes of the drive units 4 are switched to the constant power mode, where denotes the sum of the weight values ​​of the drive unit 4 descending the slope and the loads carried by the corresponding drive units 4.

[0056] Operating conditions in the presence of obstacles

[0057] When the state sensing system detects an obstacle ahead and requires deceleration, the output voltage and frequency of the motor 44 are reduced by all drive units of the monorail lifting and handling robot, and the operating mode is switched to constant torque mode. After the monorail lifting and handling robot passes the obstacle, the voltage frequency and current supplied to motor 44 are increased to accelerate. After the monorail lifting and handling robot reaches its rated power, the operating mode is switched to constant power mode.

[0058] The state sensing system of this embodiment further comprises a displacement sensor, the displacement sensor being mounted on the clamping cylinder 48. For example, a magnetostrictive displacement sensor is used, which is mounted on the piston rod inside the clamping cylinder 48 of the drive unit 4 to monitor the displacement of the clamping cylinder 48 during operation. The compression amount of the drive wheel 45 is calculated according to the data of the displacement sensor after clamping the drive wheel 45, that is, the change in the displacement of the clamping cylinder 48, to determine the radius of the drive wheel 45, to calculate the circumference Ci of the drive wheel 45, or the circumference Ci of the drive wheel 45 is queried according to a preset database.The rotation speed of each drive wheel 45 is calculated in accordance with the circumference of each drive wheel 45, and a stable speed V of movement of the monorail lifting and transport robot is set, then the set rotation speed of each drive wheel 45 is obtained in accordance with Ni=V / Ci, where Ni denotes the set rotation speed for each drive wheel 45, which maintains the synchronous operation of each drive unit 4 of the monorail lifting and transport robot, Ci denotes the circumference of each drive wheel 45. Preferably, V=P / (F+Fi), P denotes the rated power of the motor 44, and F denotes the resistance to movement of the drive unit 4, not climbing the slope.

[0059] In this embodiment, the wear data of the drive wheel 45 is calculated based on the actual circumference Ci of the drive wheel 45, and the wear data of the drive wheel 45 can be determined based on the difference between the circumference of the current drive wheel and the circumference of the original drive wheel. When the load of the monorail lifting and handling robot is less than 40% of the maximum load, the drive wheel 45, whose wear has reached a preset wear threshold, is released by the clamping cylinder 48, and the corresponding drive units 4 do not operate to prevent further wear of the drive wheel 45, which is already heavily worn.

[0060] As shown in Fig. 4, in this embodiment, it is preferable that an encoder is located on each motor 44 of the driving unit 4, and the encoder is configured to monitor the parameters of the motor 44 in real time and provide feedback to the main controller, which can effectively reduce the following error of the motor 44. A driving device is located on each motor 44, and a signal supplied by the main controller is compared with the main controller based on the feedback information of the encoder, and a pulse width modulation signal is supplied to the driving device in accordance with the error between the actual rotation speed and the optimal rotation speed, so that the rotation speed of the motor 44 can be adjusted in real time.

[0061] It is obvious that those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Therefore, if these modifications and changes to the present invention come within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and changes.

Claims

1. A monorail lifting and transport robot with permanent magnets and a variable frequency drive using an explosion-proof lithium battery, wherein the robot moves along an overhead rail (6), the robot comprises a main controller, a state perception system and a cabin (1), a lifting device (2) and a plurality of drive units (4), all suspended on the overhead rail (6), the cabin (1) is configured to control the monorail lifting and transport robot using the drive device and the lifting device (2) is configured to load loads; each drive unit (4) comprises a motor (44) and each motor (44) has operating modes including a constant power mode and a constant torque mode; the state perception system is configured to determine the state of movement of the monorail lifting and transport robot and the operating mode of the motor (44) is regulated by the main controller based on the state of movement received by the state perception system, in particular: when the state sensing system determines that the monorail handling robot is in a stable moving state, the motor (44) maintains a constant power mode; when the state sensing system determines that the monorail handling robot is in the acceleration start state, each motor (44) accelerates in the constant torque mode, when the motor (44) reaches the rated power, the operating mode of the motor is switched to the constant power mode; when the state perception system determines that some of the drive units (4) have started to climb the slope, the operating modes of the motors (44) corresponding to the drive units (4) not climbing the slope are switched to the constant torque mode, the resistance Fi increased by the drive units (4) climbing the slope is evenly distributed to each drive unit (4), the drive units (4) not climbing the slope are slowed down and the rotation speed of the corresponding motor (44) after slowing down is Ni, wherein Ni is required to be calculated and obtained on the basis of the stable speed V of movement of the monorail lifting and transport robot and the circumference Ci of the corresponding drive wheel (45), the stable speed V of movement of the monorail lifting and transport robot is calculated and obtained on the basis of the resistance Fi, when all the drive units (4) reach the slope, the operating modes of the corresponding motors (44) are switched to the constant power mode,when the state perception system determines that the cabin (1) in the monorail lifting and transport robot is moving down an incline, the operating modes of the motors (44) corresponding to the drive units (4) passing along the incline are switched to the constant torque mode and, thus, the torque value corresponding to the constant torque mode is the value before lifting; when the state perception system determines that some of the drive units (4) have started to descend the slope, the operating modes of the motors (44) corresponding to the drive units (4) descending the slope are switched to the constant torque mode, thus the force Fj, increased by the drive units (4) descending the slope, in the direction of movement, is evenly distributed to each drive unit (4), when all drive units (4) reach the slope, the operating mode of the motor (44) corresponding to each drive unit (4) is switched to the constant power mode, when the state perception system determines that the cabin (1) in the monorail lifting and transport robot is descending the slope, the operating modes of the motors (44) corresponding to the drive units (4) not descending the slope are switched to the constant torque mode.

2. The robot according to claim 1, characterized in that the state perception system comprises a camera and a laser radar; the camera and the laser radar are capable of detecting obstacles on the overhead rail (6), when the camera and the laser radar detect that there is an obstacle in front of the monorail lifting and transport robot, all the motors (44) are slowed down by the drive units (4) by reducing the magnitude and frequency of the input current voltage of the motor (44) and the operating modes of the motors (44) are switched to the constant torque mode, when the monorail lifting and transport robot passes through an obstacle, the motors (44) are accelerated by increasing the frequency of the voltage and the magnitude of the input current of the motor (44) and the operating modes of the motors are switched to the constant power mode after the motor (44) reaches the rated power.

3. The robot according to claim 1 or 2, characterized in that the monorail lifting and transport robot further comprises a power trolley (3) suspended on an overhead rail (6), the drive unit (4) further comprises a drive bracket (41), a clamping lever (42), a brake lever (43), a drive wheel (45), a brake cylinder (46), a brake shoe (47) and a clamping cylinder (48), wherein the drive wheel (45) is driven by a motor (44), the motor (44) is fixed on the clamping lever (42) and one end of the clamping lever (42) is suspended on the drive bracket (41), and the other end of the clamping lever is in connection with the clamping cylinder (48), the drive wheel (45) is in tight contact with the overhead rail (6) under the action of the clamping cylinder (48), the brake lever (43) is suspended on the drive bracket (41), the brake shoe (47) is fixed to one end of the brake lever (43), and the other end of the brake lever (43) is in connection with the brake cylinder (46),the brake shoe (47) is in tight contact with the suspension rail (6) under the action of the brake cylinder (46), and all of the brake cylinder (46), the clamping cylinder (48) and the motor (44) are driven by the power trolley (3)., 4. The robot according to claim 3, characterized in that the state sensing system further comprises a displacement sensor configured to determine the telescopic displacement of the piston rod in the clamping cylinder (48), and the method for calculating the circumference Ci of the drive wheel (45) consists in that first the compression value of the drive wheel (45) is calculated on the basis of the data obtained by the displacement sensor after clamping the drive wheel (45), then the radius of the corresponding drive wheel (45) is calculated on the basis of the compression value of the drive wheel (45) and, finally, the actual circumference Ci of the corresponding drive wheel (45) is calculated.

5. The robot according to claim 4, characterized in that the state sensing system further comprises a load sensor, wherein the load sensor is mounted on the lifting device (2), the wear data of the drive wheel (45) is calculated in accordance with the actual circumference Ci of the drive wheel (45), when the load of the monorail lifting and transport robot is less than 40% of the set maximum load, the drive wheel (45), the wear data of which has reached a preset wear threshold, is released by the clamping cylinder (48) and the corresponding drive unit does not work.

6. The robot according to paragraph 5, characterized in that the state perception system additionally comprises a tilt sensor, the tilt sensor is mounted on the upper part of the cabin (1) and on the upper part of each drive unit (4), the tilt sensor is configured to determine the tilt θ of the slope and the formulas for calculating Fi and Fj are as follows: Fi = m1gsinθ, Fj = m2gsinθ, where m1 denotes the sum of the weight values ​​of the drive units (4) ascending the slope and the loads carried by the corresponding drive units (4), m2 denotes the sum of the weight values ​​of the drive units (4) descending the slope and the loads carried by the corresponding drive units (4), and g denotes the acceleration due to gravity.

7. The robot according to paragraph 6, characterized in that the formula for calculating the stable speed V of movement of the monorail lifting and transport robot is V=P / (F+Fi), where P denotes the rated power of the motor (44), F denotes the resistance to movement of the drive unit (4) not descending the slope.

8. The robot according to item 1 or 7, characterized in that the formula for calculating the rotation speed Ni is Ni=V / C.

9. The robot according to claim 1, characterized in that each motor (44) is provided with an encoder and a drive device, the encoder is configured to monitor the actual speed of rotation of the motor (44) in real time, the main controller is configured to compare the actual speed of rotation of the motor (44) with the set optimal speed of rotation to calculate the speed of rotation error, and the pulse width modulation signal is supplied to the corresponding drive device in accordance with the speed of rotation error, so that the speed of rotation of the motor (44) is regulated by the motor (44) in real time.

10. The robot according to claim 3, characterized in that the drive unit (4) is provided with two sets of clamping levers (42), so that the drive wheels (45) on the two sets of clamping levers (42) are located symmetrically on both sides of the suspension rail (6).

Images