Permanent-magnet variable-frequency drive monorail crane transport robot using explosion-proof lithium battery

Abstract

Provided in the present invention is a permanent-magnet variable-frequency drive monorail crane transport robot using an explosion-proof lithium battery. The monorail crane transport robot comprises a state sensing system, and a cab, a hoisting apparatus, a power compartment and a plurality of driving parts, which are all hung on a suspension rail, wherein each driving part comprises an electric motor, and the operation modes of each electric motor comprise a constant-power mode and a constant-torque mode; and a main controller obtains an operation state of the monorail crane transport robot by means of the state sensing system, and adjusts operation modes of the electric motors on the basis of the operation state. By means of the present invention, the circumference of each driving wheel of a monorail crane transport robot can be measured, different rotational speeds can be provided, and the speed of each driving part of the monorail crane transport robot can be adjusted on the basis of different operation conditions, so as to ensure the synchronization between driving parts, thereby prolonging the service life of the monorail crane transport robot.

Description

Anti-explosion lithium battery permanent magnet variable frequency driving monorail hoist transport robot

[0001] Related applications

[0002] The present application claims priority to the Chinese patent application No. 202410988977.2, filed on July 23, 2024, entitled "Anti-explosion lithium battery permanent magnet variable frequency driving monorail hoist transport robot", the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of coal mine transportation, in particular to an anti-explosion lithium battery permanent magnet variable frequency driving monorail hoist transport robot. BACKGROUND

[0004] Under the requirement of building a safe, high-yield and efficient modernized mine, the modernization degree of auxiliary transportation has become an important indicator to measure the modernization level of a coal mine. The auxiliary transportation system of a coal mine has the characteristics of complex and changeable transportation lines, many intermediate links, and different sizes of materials to be transported, which brings great inconvenience to the transportation of the roadway.

[0005] As a new type of auxiliary transportation equipment, the monorail hoist has the advantages of not being affected by the floor conditions, convenient transportation roadway layout, space saving, high transportation efficiency, etc., and is paid attention to by many coal mine equipment manufacturers and coal mine production units, and has a broad development prospect.

[0006] At present, the lithium battery monorail hoist as a new type of auxiliary transportation equipment in the coal mine has been widely used. However, due to the low energy density and insufficient power of lithium batteries compared with diesel engines, under heavy load conditions, the driving part used on the lithium battery monorail hoist is more and the locomotive is longer, and under the condition of changing working conditions such as climbing or descending, there is a problem of different steps of each driving part. In addition, the monorail hoist also has the problem of driving part slippage under different working conditions, which causes the driving wheel diameters of each driving part of the monorail hoist to be different, and further causes the problem of different steps of multiple driving parts to be more serious. SUMMARY

[0007] In view of the problems existing in the prior art, the present application provides an anti-explosion lithium battery permanent magnet variable frequency driving monorail hoist transport robot which moves by using a suspension track. The monorail hoist transport robot comprises a total controller, a state perception system, a cockpit, a hoisting device and a plurality of driving parts which are all hung on the suspension track, the cockpit is used for the driver to control the monorail hoist transport robot, and the hoisting device is used for carrying goods; each driving part comprises a motor, and each motor working mode comprises a constant power mode and a constant torque mode.

[0008] The state sensing system is used to detect the running state of the monorail hoist transport robot, and the total controller adjusts the working mode of the motor according to the running state obtained by the state sensing system, which specifically includes:

[0009] When the state sensing system detects that the monorail hoist transport robot runs stably, the motor keeps the constant power mode.

[0010] When the state sensing system detects that the monorail hoist transport robot starts to accelerate, each motor accelerates in the constant torque mode; when the motor power reaches the rated power, it is converted to the constant power mode.

[0011] When the state sensing system detects that part of the driving part starts to climb, the working mode of the motor corresponding to the driving part not climbing is converted to the constant torque mode, and the increased resistance Fi of the driving part climbing is divided into each driving part, and the driving part not climbing is decelerated and the speed of the motor corresponding to the driving part after deceleration is Ni; wherein Ni is calculated according to the stable running speed V of the monorail hoist transport robot and the circumference Ci of the corresponding driving wheel; the stable running speed V of the monorail hoist transport robot is calculated according to the resistance Fi; when all driving parts reach the slope, the working mode of the motor corresponding to the driving part is converted to the constant power mode; when the state sensing system detects that the cockpit in the monorail hoist transport robot drives out of the slope, the working mode of the motor corresponding to the driving part passing through the slope is converted to the constant torque mode; at this time, the torque value corresponding to the constant torque mode is the value before climbing.

[0012] When the state sensing system detects that part of the driving part starts to descend, the working mode of the motor corresponding to the driving part descending is converted to the constant torque mode; at this time, the force Fj increased in the running direction of the driving part descending is divided into each driving part; when all driving parts reach the slope, the working mode of the motor corresponding to each driving part is converted to the constant power mode; when the state sensing system detects that the cockpit in the monorail hoist transport robot drives out of the slope, the working mode of the motor corresponding to the driving part not driving out of the slope is converted to the constant torque mode.

[0013] Further, the state sensing system includes a camera and a laser radar; the camera and the laser radar can detect obstacles in the suspension track; when the camera and the laser radar detect obstacles in front of the monorail hoist transport robot, all driving parts reduce the current and voltage frequency input to the motor, so that the motor is decelerated and the working mode is converted to the constant torque mode; after the monorail hoist transport robot passes through the obstacle, the voltage frequency and current size input to the motor are increased, so that the motor is accelerated and the working mode is converted to the constant power mode after reaching the rated power.

[0014] Further, the single-track hoist transport robot further comprises a power compartment hung on the suspension rail; the driving part further comprises a driving support, a clamping arm, a brake arm, a driving wheel, a brake cylinder, a brake shoe and a clamping cylinder; the driving wheel is driven by a motor, the motor is fixed on the clamping arm, one end of the clamping arm is hinged to the driving support, and the other end is connected to the clamping cylinder, so that the driving wheel can be in close contact with the suspension rail under the action of the clamping cylinder; the brake arm is hinged to the driving support, the brake shoe is fixed on one end of the brake arm, and the other end is connected to the brake cylinder, so that the brake shoe can be in close contact with the suspension rail under the action of the brake cylinder; the brake cylinder, the clamping cylinder and the motor are powered by the power compartment.

[0015] Further, the state perception system further comprises a displacement sensor for detecting the extension and retraction displacement of the piston rod in the clamping cylinder; the calculation method of the circumference Ci of the driving wheel is as follows: according to the data of the displacement sensor after the driving wheel is clamped, the compression amount of the driving wheel is first calculated; then, according to the compression amount of the driving wheel, the radius corresponding to the driving wheel is calculated, and then the actual circumference Ci of the driving wheel is calculated.

[0016] Further, the state perception system further comprises a load sensor installed on the hoisting device; according to the actual circumference Ci of the driving wheel, the wear data of the driving wheel is calculated; when the load of the single-track hoist transport robot is less than 40% of the set maximum load, the clamping cylinder releases the driving wheel whose wear data reaches the preset wear threshold, and the corresponding driving part does not work.

[0017] Further, the state perception system further comprises an inclination sensor installed on the top of the cockpit and the top of each driving part, which can be used to detect the slope inclination θ, and the calculation formulas of Fi and Fj are as follows: Fi=m1gsinθ Fj=m2gsinθ

[0018] In the formulas, m1 is the sum of the weights of the loads borne by the driving part on the climbing part and the corresponding driving part; m2 is the sum of the weights of the loads borne by the driving part on the downhill part and the corresponding driving part; and g is the acceleration of gravity.

[0019] Further, the calculation formula of the stable running speed V of the single-track hoist transport robot is as follows: V=P / (F+Fi)

[0020] In the formula, P is the rated power of the motor, and F is the running resistance of the driving part on the non-climbing part.

[0021] Further, the calculation formula of the rotation speed Ni is as follows: Ni=V / Ci.

[0022] Further, the motor is provided with an encoder and a driver; the encoder is used for monitoring the actual rotating speed of the motor in real time; the total controller compares the actual rotating speed of the motor with the set ideal rotating speed and calculates the rotating speed error, and gives a PWM switching quantity signal to the corresponding driver according to the rotating speed error, so that the motor can adjust the rotating speed in real time.

[0023] Further, the driving part is provided with two sets of clamping arms, and the driving wheels on the two sets of clamping arms are symmetrically arranged on both sides of the suspension rail.

[0024] The present application can detect the circumference of the driving wheel of the monorail hoist transport robot, give different rotating speeds of the motor, and adjust the speed of each driving part of the monorail hoist transport robot according to the working conditions such as climbing and descending, so as to ensure the synchronism of each driving part and improve the service life of the monorail hoist transport robot. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0026] Fig. 1 is a whole schematic diagram of the explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot.

[0027] Fig. 2 is a driving part schematic diagram in the present application.

[0028] Fig. 3 is a state sensing system schematic diagram in the present application.

[0029] Fig. 4 is a driving part motor schematic diagram in the present application.

[0030] In the figure: 1, cockpit; 2, hoisting device; 3, power car; 4, driving part; 41, driving support; 42, clamping arm; 43, brake arm; 44, motor; 45, driving wheel; 46, brake cylinder; 47, brake shoe; 48, clamping cylinder.

[0031] 5, connecting rod; 6, suspension rail.

[0032] 5, connecting rod; 6, suspension rail. DETAILED DESCRIPTION

[0033] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some embodiments of the present application, not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the protection scope of the present application.

[0034] As shown in Figure 1, the explosion-proof lithium battery permanent magnet variable frequency drive monorail hoist transport robot of the present embodiment uses the suspension rail 6 to move.

[0035] The explosion-proof lithium battery permanent magnet variable frequency drive monorail hoist transport robot includes a state sensing system, a cockpit 1, a hoisting device 2, a power car 3 and a plurality of drive parts 4 connected by connecting rods 5 and hung on the suspension rail 6. The cockpit 1 can be arranged at both ends of the monorail hoist transport robot for easy driving. Each drive part 4 includes a motor 44, and the working mode of each motor 44 includes constant power mode and constant torque mode.

[0036] As shown in Figure 2, the drive part 4 includes a drive bracket 41, a clamping arm 42, a brake arm 43, a motor 44, a drive wheel 45, a brake cylinder 46, a brake shoe 47 and a clamping cylinder 48. The drive bracket 41 serves as a base, and each component is mounted on the drive bracket 41. The drive wheel 45 is driven by the motor 44, and the motor 44 is selected as a permanent magnet synchronous motor. The motor 44 is fixed on the clamping arm 42, one end of the clamping arm 42 is hinged to the drive bracket 41, and the other end is connected to the clamping cylinder 48. Under the action of the clamping cylinder 48, the drive wheel 45 is in close contact with the suspension rail 6, so that the monorail hoist transport robot is driven by the drive wheel 45 to move along the suspension rail 6. The brake arm 43 is hinged to the drive bracket 41, the brake shoe 47 is fixed to one end of the brake arm 43, and the other end is connected to the brake cylinder 46. The brake shoe 47 can be in close contact with the suspension rail 6 under the action of the brake cylinder 46, and is used for braking of the drive part 4.

[0037] Preferably, the drive part 4 is provided with two sets of clamping arms 42, so that the drive wheels 45 on the two sets of clamping arms 42 are symmetrically arranged on both sides of the suspension rail 6, so as to make the driving stable. Further, the brake cylinder 46 is a bidirectional cylinder, and the brake cylinder 46 is connected to one brake arm 43 at both ends, so that the brake shoes 47 connected by the two brake arms 43 are symmetrically arranged on both sides of the suspension rail 6, so as to make the braking stable. Further, the brake cylinder 46 is provided with two sets, and the brake shoes 47 corresponding to the two sets of brake cylinders 46 are arranged on both sides of the drive wheel 45, so as to further make the braking stable.

[0038] The brake cylinder 46, the clamping cylinder 48 and the motor 44 are powered by the power car 3. The power car 3 includes explosion-proof lithium batteries, explosion-proof motors and hydraulic pumps and other components. The explosion-proof motors and hydraulic pumps are used to provide power for the brake cylinders 46 and the clamping cylinders 48 of each drive part 4, and the explosion-proof lithium batteries are used to provide power for the motors 44 of each drive part 4 and the overall monorail hoist transport robot.

[0039] As shown in FIG. 3, the state sensing system comprises a camera, a laser radar, an inclination sensor, a load sensor and a general controller. The camera and the laser radar can detect obstacles in the suspension rail 6, and are preferably installed at the front of the driver cabin 1. The camera is preferably an infrared camera, and the laser radar is preferably two, installed on both sides of the driver cabin 1. The inclination sensor is installed on the top of the driver cabin 1 and the top of each driving part 4, for detecting the inclination of the driver cabin 1 and the driving part 4, i.e. the slope inclination, to facilitate the judgment of the running state of the monorail hoisting transport robot. The load sensor is installed on the hoisting device 2, for detecting the load at the hoisting device 2.

[0040] The general controller obtains the running state of the monorail hoisting transport robot through the information obtained by the state sensing system, and adjusts the control strategy of the motor 44 according to the running state of the monorail hoisting transport robot, including:

[0041] Flat ground condition:

[0042] When the state sensing system detects that the monorail hoisting transport robot is running stably, the motor 44 remains in the constant power mode.

[0043] When the state sensing system detects that the monorail hoisting transport robot is starting to accelerate, the motor 44 accelerates in the constant torque mode, and when the power of the motor 44 reaches the rated power, the motor 44 is converted to the constant power mode.

[0044] Climbing slope condition:

[0045] When the state sensing system detects that part of the driving part 4 starts to climb the slope and part of the driving part 4 does not start to climb the slope, the general controller issues an instruction to reduce the output torque of the motor 44 of the driving part 4 that does not climb the slope and convert the working mode to the constant torque mode, and the motor 44 corresponding to the driving part 4 that starts to climb the slope remains in the constant power mode to climb the slope.

[0046] The increased resistance Fi of the climbing slope driving part 4 is evenly distributed to each driving part 4, and the driving part 4 that does not climb the slope is immediately decelerated according to the different rotation speeds Ni calculated based on the stable running speed V and the circumference Ci of the driving wheel 45, and the stable running speed V is the speed at which the driving part 4 that climbs the slope in the constant power mode finally runs stably on the suspension rail 6. When all the driving parts 4 reach the slope, the working mode of all the driving parts 4 is converted to the constant power mode. When the monorail hoisting transport robot detects that the driver cabin 1 drives out of the slope, i.e. the vehicle head drives out of the slope, and the rear driving part 4 is still climbing the slope at this time, the torque of the driving part 4 that passes through the slope is immediately reduced to the value before climbing the slope and the working mode is converted to the constant torque mode, and after all the driving parts 4 pass through the slope, the working mode of the motor 44 in all the driving parts 4 is converted to the constant power mode for acceleration. Wherein Fi = m1gsinθ, m1 is the sum of the weights of the load borne by the climbing slope driving part 4 and the corresponding driving part 4, g is the acceleration of gravity, and θ is the slope inclination.

[0047] Downhill working condition:

[0048] When the state sensing system detects that the part of the driving part 4 starts to go downhill, the total controller issues an instruction to reduce the output torque of the downhill part of the driving part 4 and switch the working mode to the constant torque mode, and the part of the driving part 4 that is not downhill remains in the constant power mode.

[0049] The force Fj in the running direction of the downhill part of the driving part 4 is evenly distributed to each driving part 4, the downhill part of the driving part 4 reduces its output force, keeps the same running speed of the whole vehicle, and switches the working mode of all driving parts 4 to the constant power mode after all driving parts 4 reach the slope; when the single-rope suspension transport robot detects that the cab 1 drives out of the slope, at this time the rear driving part 4 is still downhill, the driving part 4 that has not driven out of the slope reduces the output force and switches the working mode to the constant torque mode, and the working mode of all driving parts 4 is switched to the constant power mode after all driving parts 4 reach the flat ground. Wherein Fj=mgsinθ, m2 is the sum of the weights of the loads borne by the downhill part of the driving part 4 and the corresponding driving part 4.

[0050] Obstacle working condition:

[0051] When the state sensing system detects that there is an obstacle in front that needs to be slowed down, the single-rope suspension transport robot reduces the current size and voltage frequency input to the motor 44 of all driving parts 4 and switches the working mode to the constant torque mode, increases the voltage frequency and current size input to the motor 44 after the single-rope suspension transport robot passes through the obstacle to accelerate, and switches the working mode to the constant power mode after the single-rope suspension transport robot reaches the rated power.

[0052] The state sensing system of the embodiment further includes a displacement sensor, which is installed on the clamping oil cylinder 48, for example, a magnetostrictive displacement sensor, which is installed on the piston rod inside the clamping oil cylinder 48 of the driving part 4, and monitors the displacement of the clamping oil cylinder 48 during work. According to the data of the displacement sensor after the driving wheel 45 is clamped, that is, the change amount of the displacement of the clamping oil cylinder 48, the compression amount of the driving wheel 45 is calculated, the radius of the driving wheel 45 is judged, and the circumference Ci of the driving wheel 45 is calculated, or the circumference Ci of the driving wheel 45 is queried according to a pre-set database. The rotation speed of each driving wheel 45 is calculated according to the circumference of each driving wheel 45, the stable running speed V of the single-rope suspension transport robot is set, and the set rotation speed of each driving wheel 45 is obtained according to Ni=V / Ci, wherein Ni is the set rotation speed of each driving wheel 45 that can keep the synchronous running of each driving part 4 of the single-rope suspension transport robot, and Ci is the circumference of each driving wheel 45. Preferably, V=P / (F+Fi), P is the rated power of the motor 44, and F is the running resistance of the part of the driving part 4 that is not climbing the slope.

[0053] Preferably, according to the actual circumference Ci of the driving wheel 45, the wear data of the driving wheel 45 is calculated, and the wear data of the driving wheel 45 can be judged according to the difference between the current circumference of the driving wheel and the original circumference of the driving wheel. When the monorail hoist robot load is less than 40% of the maximum load, the clamping oil cylinder 48 loosens the driving wheel 45 that reaches the preset wear threshold, and the corresponding driving part 4 does not work, preventing further wear of the driving wheel 45 that has been severely worn.

[0054] As shown in FIG. 4, preferably, an encoder is arranged on each motor 44 of the driving part 4, which monitors the motor 44 parameters in real time and feeds back to the general controller, which can effectively reduce the follow-up error of the motor 44. A driver is arranged on each motor 44, and the general controller compares the encoder feedback information with the general controller given signal, and gives the driver PWM switching quantity signal according to the error between the actual speed and the ideal speed, so that the motor 44 can adjust the speed in real time.

[0055] Obviously, those skilled in the art can make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application belong to the scope of the claims of the present application and their equivalent technologies, the present application also intends to include these modifications and variations.

Claims

1. An explosion-proof lithium battery permanent magnet variable frequency drive monorail hoist transport robot, which moves by using a suspension rail (6), characterized in that: The single-track hoist transport robot comprises a total controller, a state sensing system, a driver cabin (1), a hoisting device (2) and a plurality of driving parts (4) which are all hung on a suspension rail (6), the driver cabin (1) is used for controlling the single-track hoist transport robot, and the hoisting device (2) is used for carrying goods; each driving part (4) comprises a motor (44), and each motor (44) has a constant power mode and a constant torque mode in the working mode; The state sensing system is used for detecting the running state of the single-track hoist transport robot, and the total controller adjusts the working mode of the motor (44) according to the running state obtained by the state sensing system, and specifically comprises the following steps: When the state sensing system detects that the single-track hoist transport robot runs stably, the motor (44) keeps the constant power mode; When the state sensing system detects that the single-track hoist transport robot starts to accelerate, each motor (44) accelerates in the constant torque mode; when the power of the motor (44) reaches the rated power, the constant power mode is converted; When the state sensing system detects that part of the driving parts (4) start to climb, the working mode of the motor (44) corresponding to the driving parts (4) not climbing is converted into the constant torque mode, the increased resistance Fi of the driving parts (4) climbing is distributed to each driving part (4), and the driving parts (4) not climbing decelerate and the rotating speed of the motor (44) corresponding to the driving parts (4) after deceleration is Ni; wherein Ni is calculated according to the stable running speed V of the single-track hoist transport robot and the circumference Ci of the corresponding driving wheel (45); the stable running speed V of the single-track hoist transport robot is calculated according to the resistance Fi; when all the driving parts (4) reach the slope, the working mode of the motor (44) corresponding to the driving parts (4) is converted into the constant power mode; when the state sensing system detects that the driver cabin (1) in the single-track hoist transport robot drives out of the slope, the working mode of the motor (44) corresponding to the driving parts (4) passing through the slope is converted into the constant torque mode; at this time, the torque value corresponding to the constant torque mode is the value before climbing; When the state sensing system detects that part of the driving parts (4) start to climb, the working mode of the motor (44) corresponding to the driving parts (4) not climbing is converted into the constant torque mode; at this time, the force Fj increased in the running direction of the driving parts (4) climbing is distributed to each driving part (4); when all the driving parts (4) reach the slope, the working mode of the motor (44) corresponding to each driving part (4) is converted into the constant power mode; when the state sensing system detects that the driver cabin (1) in the single-track hoist transport robot drives out of the slope, the working mode of the motor (44) corresponding to the driving parts (4) not driving out of the slope is converted into the constant torque mode.

2. The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport 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 can detect obstacles in the suspension rail (6); when the camera and the laser radar detect obstacles in front of the monorail hoisting transport robot, all the driving parts (4) reduce the speed of the motor (44) and convert the working mode to the constant torque mode by reducing the input current and voltage frequency of the motor (44); after the monorail hoisting transport robot passes through the obstacles, the motor (44) is accelerated and the working mode is converted to the constant power mode by increasing the voltage frequency and current size of the input current of the motor (44) after reaching the rated power. 3.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 1 or 2, characterized in that: The monorail hoisting transport robot further comprises a power car (3) hung on the suspension rail (6); the driving part (4) further comprises a driving support (41), a clamping arm (42), a brake arm (43), a driving wheel (45), a brake cylinder (46), a brake shoe (47) and a clamping cylinder (48); the driving wheel (45) is driven by the motor (44), the motor (44) is fixed on the clamping arm (42), one end of the clamping arm (42) is hinged to the driving support (41), and the other end is connected to the clamping cylinder (48), which can make the driving wheel (45) tightly contact with the suspension rail (6) under the action of the clamping cylinder (48); the brake arm (43) is hinged to the driving support (41), the brake shoe (47) is fixed on one end of the brake arm (43), and the other end is connected to the brake cylinder (46), the brake shoe (47) can tightly contact with the suspension rail (6) under the action of the brake cylinder (46); the brake cylinder (46), the clamping cylinder (48) and the motor (44) are all powered by the power car (3).

4. The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 3, characterized in that: The state perception system further comprises a displacement sensor for detecting the extension and retraction displacement of the piston rod in the clamping cylinder (48); the calculation method of the circumference Ci of the driving wheel (45) is as follows: according to the data sensed by the displacement sensor after the driving wheel (45) is clamped, the compression amount of the driving wheel (45) is first calculated; then, according to the compression amount of the driving wheel (45), the radius corresponding to the driving wheel (45) is calculated, and then the actual circumference Ci of the corresponding driving wheel (45) is calculated. 5.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 4, characterized in that: The state perception system further comprises a load sensor installed on the hoisting device (2); according to the actual circumference Ci of the driving wheel (45), the wear data of the driving wheel (45) is calculated; when the load of the monorail hoisting transport robot is less than 40% of the set maximum load, the clamping cylinder (48) releases the driving wheel (45) whose wear data reaches the preset wear threshold, and the corresponding driving part (4) does not work. 6.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 5, characterized in that: The state perception system further comprises an inclination sensor installed on the top of the cockpit (1) and the top of each driving part (4), which can be used to detect the slope inclination θ, and the calculation formulas of Fi and Fj are as follows: Fi=m1gsinθ Fj=m2gsinθ In the formula, m1 is the sum of the weights of the load borne by the climbing part driving part (4) and the corresponding driving part (4); m2 is the sum of the weights of the load borne by the downhill part driving part (4) and the corresponding driving part (4); g is the acceleration of gravity. 7.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 6, characterized in that: The calculation formula of the single-track hoist transport robot stable running speed V is: V=P / (F+Fi) In the formula, P is the rated power of the motor (44), and F is the running resistance of the driving part (4) without climbing. 8.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoisting robot according to claim 1 or 7, characterized in that: The calculation formula of the rotation speed Ni is: Ni=V / Ci. 9.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 1, characterized in that: Each motor (44) is provided with an encoder and a driver; the encoder is used for monitoring the actual rotation speed of the motor (44) in real time; the total controller compares the actual rotation speed of the motor (44) with the set ideal rotation speed and calculates the rotation speed error, and gives a PWM switching quantity signal to the corresponding driver according to the rotation speed error, so that the motor (44) can adjust the rotation speed in real time. 10.The explosion-proof lithium battery permanent magnet variable frequency driving monorail hoist transport robot according to claim 3, characterized in that: The driving part (4) is provided with two groups of clamping arms (42), so that the driving wheels (45) on the two groups of clamping arms (42) are symmetrically arranged on both sides of the suspension rail (6).

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