263 results about "Traction drive" patented technology

The invention relates to the field of intelligent operation and maintenance of rail train traction transmission systems, and discloses an intelligent operation and maintenance method and system for a rail train traction transmission system. The method comprises the following steps: firstly, collecting multi-source heterogeneous knowledge, and defining a fault knowledge graph body and a relationship thereof to construct a knowledge graph; and analyzing and segmenting the text data in different types, and storing the text data into a vector database so as to support subsequent accurate retrieval and reasoning. Establishing a multi-source knowledge retrieval mechanism, and extracting unstructured texts and structured knowledge highly related to fault query by retrieving a vector database and a knowledge graph; aiming at unstructured text knowledge, carrying out sequence optimization on the knowledge by adopting a reordering model; and a cue word template is constructed, texts and structured knowledge are integrated, a large language model is guided to carry out fault analysis, and maintainability decision support is provided. The accuracy and reliability of a large language model in intelligent operation and maintenance in the field can be improved.

The utility model discloses an assembly type pipe gallery assembling rack, and belongs to the technical field of pipe gallery construction, the assembly type pipe gallery assembling rack comprises a ground rail, a movable base, a supporting mechanism, an assembly supporting plate, an auxiliary positioning piece and a traction driving mechanism, the movable base comprises a bottom plate, boundary beams are fixedly arranged on the two sides of the lower end face of the bottom plate, and rolling wheels are rotatably arranged on the boundary beams; the auxiliary positioning piece comprises a guiding piece fixedly arranged on the assembly supporting plate and an inserting piece arranged in the assembly type pipe gallery top plate. Under the common guiding effect of the arranged guiding piece and an inserting piece in the assembly type pipe gallery top plate, the pipe gallery top plate can be placed at the designated position on the assembly supporting plate, then the traction driving mechanism drags the movable base to the designated position along the ground rail, and then the supporting mechanism works to lower the assembly supporting plate; the pipe gallery top plate placed on the pipe gallery top plate assembling device can be assembled to a designated position, and manual auxiliary positioning work and temporary support building work can be omitted.

An autonomous transport robot for transporting a payload, autonomous transport robot including, frame with integral payload support that has a payload seat surface defining a payload datum position that determines predetermined payload position relative to autonomous transport robot, transfer arm connected to the frame and configured for autonomous transfer of payload to and from the frame, one caster wheel mounted to frame, drive section with a pair of traction drive wheels astride the drive section, drive section being connected to the frame, wherein the one caster wheel and one traction drive wheel of the pair of traction drive wheels roll, on a rolling surface effecting autonomous transport robot traversal over the rolling surface, each having a fully independent suspension, and are disposed on the frame astride the integral payload support so that the payload seat surface at the payload datum position is disposed at minimum distance above the rolling surface.

The invention relates to the technical field of bag making machine control, in particular to a round corner positioning and cutting device and method for a composite film, and the round corner positioning and cutting device comprises a rack main body, a traction driver and a control center; a cutter assembly and a traction assembly are arranged on the rack main body; a camera is arranged on the feeding side of the cutter assembly. When the control center receives a traction instruction, a traction pulse is sent to the traction driver in real time so as to control the traction driver to drive the traction assembly to perform traction; during the period that the control center sends the traction pulses to the traction driver, when the control center receives an ending instruction, an error adjusting instruction is generated according to the first number of the traction pulses sent in the traction process and an original image collected by the camera in the traction process so as to control the cutter assembly to conduct position adjustment and composite film cutting. The method has the beneficial effects that the time consumed in the error calculation process is shortened, the running speed of the whole machine is improved, the production efficiency is further improved, and the material waste is reduced.

The invention relates to wire and cable tensile strength automatic detection equipment, and relates to the technical field of material performance detection. A machine table serves as a basic supporting structure, a driving assembly is arranged on the machine table to provide linear driving power, and a displacement detection assembly monitors a tension value in real time; the clamping device clamps the wire cable through cooperation of a swing arm, a supporting ring, a pressing ring and other parts, the bonding assembly can extrude glue for further fixing during clamping, and the air injection assembly accelerates drying and fixing of the glue. The driving assembly is composed of a traction driving motor, a driving gear, a screw rod and the like. The displacement detection assembly is composed of a tension sensor and a tension spring. The device achieves the technical effects of accurately and reliably detecting the tensile strength of the electric wire and cable, and improving the detection stability and accuracy through glue adhesion and air injection accelerated drying.

An elevator tractive drive system including a plurality of wheels coupled to an elevator cab. The plurality of wheels are configured to compress into one or more shaft-mounted rails and / or one or more interior shaft wall surfaces. The plurality of wheels are powered by one or more motors coupled to a transmission configured to deliver regulated torque to the plurality of wheels. The system includes various sensors to measure parameters related to kinematics of the cab and / or the plurality of wheels, parameters related to a mass or a weight of the elevator cab and any payload and / or parameters related to compressive forces generated at a wheel-rail or wheel-shaft interface. A controller is configured to receive input from each of the sensors and activate the at least one actuator and / or motors, to generate or adjust regulated compressive force and associated tractive force delivered at the wheel-rail interface and / or the wheel-shaft interface.

The invention relates to the field of turning equipment, and discloses oil press pressing screw outer spiral machining equipment which comprises a rack base, an embedded stabilizing mechanism is located on an operation sliding table, and the embedded stabilizing mechanism is matched with an external rotary drum and a distribution guide rail of a guide roller shaft to be used for conducting circumferential clamping along the interior of a pressing screw blank. The linear traction mechanism is located on the center guide groove table, and the synchronous switching mechanism is located on the rack base and used for fixing thread groove cutting tools and synchronously switching the tools in cooperation with the side sliding table, the regulation and control screw rod, the linear opposite grooves of the center guide groove table and the U-shaped guide grooves of the linkage guide groove table. Synchronous clamping, fixing and rotating of two sets of pressing screw blanks are achieved through a concentric clamping mechanism and an opposite output mechanism which are symmetrically designed, double-station external spiral cutting is completed at a time in cooperation with a synchronous switching mechanism driven by linear traction, a mechanical structure that a center gear is in linkage with upper and lower opposite racks is adopted, strict synchronous movement of the clamping mechanisms on the two sides is ensured, and the working efficiency is improved. Machining errors caused by single-side stress are avoided, and meanwhile the power input requirement is simplified.

The utility model provides a mining anti-explosion large-dip-angle track inspection robot which comprises a robot body, a track inspection robot main body, a track inspection robot main body, a track inspection robot main body, a track inspection robot main body, a track inspection robot main body and a track inspection robot main body, the traction driving module is mounted on the robot body, and the traction driving module is used for driving the robot body to move along the track; the information acquisition unit is installed on the robot body, the information acquisition unit is used for acquiring inspection information, and the inspection information at least comprises operation state information and environment condition information of the belt conveyor; and the control module is electrically connected with the information acquisition unit and the traction driving module, the control module generates a control instruction based on the inspection information, the traction driving module controls starting and stopping of the robot body based on the control instruction, and the problem that in the prior art, manual inspection affects safety is solved.

The utility model discloses an angle module for traction and steering of a wheeled robot, which relates to the technical field of robot running parts, and comprises a vehicle body bracket and tires at four corner ends, a mounting shell is arranged above the tires, an angle module is arranged on the side of the tires, and the angle module comprises a traction module and a steering module. A traction motor in the traction module is connected with a traction rotating shaft through a speed reducer, a driving shaft and other parts to drive tires to rotate, and the axis of the traction driving shaft is coplanar with tire landing points; the steering module achieves steering through a steering motor and other components. The vehicle body support comprises a central framework, a bridge frame and modular bridges, one modular bridge is connected with the weeding module, and the other modular bridge is provided with a self-adaptive suspension and a suspension optical axis. The angle module solves the problems of power transmission, steering performance, structural stability and the like of an existing angle module, and has the advantages of being efficient, flexible, stable, universal, good in environmental adaptability and the like.

A robotics corner module includes a steering drive unit, a traction drive unit, and an intermediate assembly. The steering drive unit includes an output shaft configured to be rotationally driven about an output shaft axis. The traction drive unit includes a wheel configured to be rotationally driven about a wheel hub axis. The intermediate assembly extends between the steering drive unit and the traction drive unit and includes a support structure and a cooling system. The support structure is operably coupled to the output shaft and the traction drive unit, such that rotation of the output shaft about the output shaft axis drives rotation of the intermediate assembly and the traction drive unit about the output shaft axis. The cooling system includes a radiator mounted to the support structure and a fan mounted to the support structure and configured to deliver air to the radiator.

The utility model relates to the technical field of coating, in particular to coating equipment. The coating equipment provided by the utility model comprises an unwinding mechanism, a traction mechanism and a winding mechanism, the unwinding mechanism is used for releasing a base material, the traction mechanism is positioned at the downstream of the unwinding mechanism, the traction mechanism comprises a traction roller and a traction driving piece, the traction roller is a rubber roller, and the base material passes through and is wound on the traction roller; the output end of the traction driving part is in transmission connection with the traction roller, the traction driving part is used for driving the traction roller to rotate, the winding mechanism is arranged on the downstream of the traction mechanism and comprises a winding roller, a smoothing roller and a winding driving part, the output end of the winding driving part is in transmission connection with the winding roller, and the winding driving part is configured to drive the winding roller to rotate; and the base material is wound around the smoothing roller and is wound on the winding roller. The coating equipment can transport a base material at a constant speed, and the production quality is improved.

A medical system includes a manipulator assembly that includes a traction drive for driving a flexible elongate device of a medical instrument along an insertion axis of the manipulator assembly. The traction drive is configured to form a detection zone that imprints a mechanical signature on the flexible elongate device. The manipulator assembly further includes a shape sensor configured to measure a shape of the flexible elongate device and a control system coupled to the manipulator assembly. The control system is configured to identify, using the shape sensor, the mechanical signature at a location of the flexible elongate device, and determine, based on the location, a spatial relationship between the flexible elongate device and the traction drive.

The invention relates to the technical field of pipe penetrating traction, in particular to a simple pipe jacking and penetrating traction device which comprises a main frame body, and a fixing base frame and a traction driving support are arranged on a frame plate face of the main frame body. A hollow guide cylinder is arranged on the fixed base frame and is provided with an inner channel, one end of the guide cylinder is provided with a pipe jacking inlet, the other end of the guide cylinder is provided with a rear part, the rear part is provided with a traction guide bushing, one end of the traction guide bushing extends into the inner channel and is provided with a traction access port, and the other end of the traction guide bushing is connected with a rod body guide cylinder. The traction rod is arranged in the rod body guide cylinder in a penetrating mode, and the traction end of the traction rod stretches into the inner channel through the traction access port and is detachably connected with the top pipe in the inner channel. A middle-position supporting frame is arranged on the traction driving support, a traction base is installed on the middle-position supporting frame, and the pulling end of the traction rod is connected with the traction base. Meanwhile, the traction driving mechanism is arranged on the side edge of the traction driving support, the jacking pipe can be driven to directionally move in the inner channel of the guide cylinder through linkage of the traction base and the traction rod, and accurate traction pipe penetrating of the jacking pipe is achieved.

The invention discloses a supporting device for component dismounting and mounting and a dismounting and mounting method of a traction driving device, solves the problem of low mounting efficiency caused by simultaneous and accurate positioning and mounting of components on two sides in the prior art, and has the beneficial effect that simultaneous and high-precision mounting of the components on the two sides can be realized. According to the specific scheme, the supporting device for component dismounting and mounting comprises two side supporting assemblies, the two side supporting assemblies can move and can move to the two sides of a to-be-mounted piece in the longitudinal direction correspondingly, each supporting assembly comprises an upper side platform, the upper side platform can support the component, the upper side platform can ascend and descend, and the upper side platform can move to the lower side platform. The upper side platform can move in the transverse direction and the longitudinal direction of the part to be installed so as to push the component into the part to be installed, the upper side platform is provided with a positioning part so as to position the component to be supported, and the positioning part of the supporting assembly on one side is provided with two light emitters. Wherein one light emitter emits a light beam towards the positioning position of the to-be-installed part.

The utility model relates to the technical field of underwater robots, in particular to an underwater robot hoisting device which comprises a stand column, a rotating assembly and a traction mechanism. The rotating assembly comprises a rotating arm and a rotating piece, the rotating arm is rotationally connected to the stand column, one end of the rotating piece is installed on the rotating arm, and the other end of the rotating piece abuts against the stand column. The traction mechanism comprises a mounting frame, a traction roller, a traction driving part, a guide wheel and a traction rope, the mounting frame is mounted on the rotating arm, the traction roller is rotationally connected to the mounting frame, the traction driving part is mounted on one side of the traction roller, the guide wheel is mounted on the rotating arm, one end of the traction rope is wound on the traction roller, and the other end of the traction rope is wound on the traction roller. And the other end is wound on the guide wheel. The underwater robot is fixed through the traction rope, then the traction driving piece is used for controlling the traction roller to wind and unwind the traction rope, and the underwater robot is hoisted and put down. The device has the effect that the underwater robot can be conveniently put in and recycled.

An actuator comprises a sun wheel roller (104), a planet wheel roller (102), an auxiliary roller (103) and a fixed gear ring (101), the sun wheel roller (104) is located in the center, and the fixed gear ring (101) is located outside all elements. The auxiliary roller (103) is positioned between the planet wheel roller (102) and the fixed gear ring (101), and the planet wheel roller (102) is in contact with the sun wheel roller (104), the auxiliary roller (103) and the fixed gear ring (101), characterized in that the sun wheel roller (104), the planet wheel roller (102), the auxiliary roller (103) and the fixed gear ring (101) all have a truncated cone geometry or a truncated cone geometry. According to the invention, a transmission device is realized, which provides a simple method for changing the pre-tightening force on the rolling contact element, thereby providing an effective means for improving the torque density and the mechanical efficiency of the transmission device.

The invention provides auxiliary docking equipment for hangar steel structure welding. The auxiliary docking equipment comprises a machine base assembly and a prying frame mechanism, and the machine base assembly comprises a center machine base, four side machine bases and four U-shaped sliding frames; the four side machine bases are symmetrically arranged on the outer side wall of the center machine base. A spherical joint is fixed through the synchronous ball clamping mechanism in a clamping mode, the stability of the spherical joint in the welding operation process is improved, the requirement for the surface flatness of the spherical joint can be effectively lowered, then a rod piece is preliminarily clamped through the lifting type rod clamping mechanisms arranged on the four U-shaped sliding frames, and the welding quality of the spherical joint is improved. The split traction mechanism pulls the U-shaped sliding frame to move synchronously through the power of the traction driving mechanism, so that the U-shaped sliding frame drives the rod pieces to be in synchronous butt joint with the spherical joint, it is ensured that the positions of the rod pieces on the equipment are relatively unified, then the rod pieces are clamped and fixed secondarily through the lifting type rod clamping mechanism, and therefore the spherical joint is clamped and fixed. And subsequent welding operation is facilitated.

A zero turning radius mower park brake system includes a pair of steering levers attached to steering arm brackets that are pivotable forward and reverse on a first axis for rotating a pair of traction drive wheels in forward or reverse, and pivotable outwardly on a second axis while in a neutral position. A wire cable connects each steering arm bracket to a park brake. The wire cable retracts sufficiently to actuate the park brake when the steering arm bracket is pivoted outwardly on the second axis, but does not actuate the park brake when the steering arm bracket it pivoted forward or reverse. At least one spring provides a force urging the park brake into engagement when the steering arm pawls to park brake engaged position.

The invention relates to the technical field of elevators, and discloses an elevator traction driving structure for a passenger elevator, which comprises a shaft wall, a supporting plate is fixedly assembled at the top of the shaft wall, a traction machine body is fixedly assembled at the top of the supporting plate, and a power output shaft of the traction machine body is rotatably connected with a steel wire rope. A limiting rod is fixedly assembled on the inner wall of the well wall, and a sliding groove is formed in the inner wall of the limiting rod. After the balancing weight is assembled, operation is conducted through a motor, a power output shaft of the motor drives a rotating plate to rotate, a limiting column is driven to move when the rotating plate rotates, a connecting rod is driven to move when the limiting column moves, and pressure is applied to a pressed column when the connecting rod moves; and the cylinders can drive the rolling wheels to be attached to the inner walls of the sliding grooves when rotating, the counter-weight device can drive the rolling wheels to rotate when moving, and therefore the counter-weight device is more stable when moving.

The application relates to a rotary traction device for a low-voltage small-cable stranding single-stranding machine, and belongs to the technical field of cable production equipment. The rotary traction device comprises a rack, a main rotary body rotatably arranged on the rack, a main rotary driving motor arranged at one end of the rack, and a main rotary transmission assembly for driving the main rotary body to rotate by the main rotary driving motor. A cable core traction mechanism and a cable core pressing mechanism are arranged on the main rotary body. A traction motor is arranged on the main rotary transmission assembly. A traction transmission assembly is arranged between the traction motor and the cable core traction mechanism. The traction motor drives the cable core traction mechanism to operate through the traction transmission assembly. The main rotary driving motor and the traction driving motor are fixed on the non-rotating rack, so that the problems of severe vibration, bearing overload, lubrication difficulty and dynamic balance caused by high-speed rotation of the motor with the main rotary body are completely eliminated. The main rotary body operation stability is greatly improved, the service life of bearings and other key components is prolonged, and the failure rate is fundamentally reduced.

The invention relates to the technical field of hybrid power vehicles, and discloses an energy control method of a hybrid power carrier vehicle, which comprises the following steps: step 1, acquiring a driving demand torque, a brake pedal opening degree, a vehicle speed, a battery charge state and a super capacitor voltage, and generating a door control signal; step 2, determining a unique working mode of the vehicle based on the door control signal; step 3, in a traction driving mode, calculating traction power demand, and determining a power amplitude limiting rule; step 4, generating output power of the engine and the motor; 5, determining a charging power target of the energy storage system, and generating a total output power instruction of the engine; step 6, generating a recovery power instruction in the recovery mode; and step 7, summarizing the charging power target and the recovery power instruction, generating a charging power instruction and processing the residual power. The energy utilization efficiency of the hybrid power carrying vehicle is improved.

The application discloses a handheld master-slave isomorphic surgical actuator driving device, which comprises a master controller, a transmission box and a slave actuator. The master controller and the slave actuator adopt a master-slave isomorphic structure. The master controller is arranged on one side of the transmission box and is provided with six master traction driving wires. The slave actuator is arranged on the other side of the transmission box and is provided with slave traction driving wires corresponding to the master traction driving wires one by one. Six transmission rotating wheel groups are installed in the transmission box, and the master traction driving wires and the slave traction driving wires corresponding to each other are drivingly connected through each transmission rotating wheel group. The movement of the slave actuator is accurately controlled by the master controller through a master-slave isomorphic control mode, so that high-precision surgical operation is realized. The driving device realizes efficient cooperation between the operator and the actuator through the master-slave isomorphic control mode, and ensures high precision, high flexibility and high safety of the surgical operation.

The utility model discloses a full-automatic reciprocating type layer-changing elevator, which relates to the technical field of elevators and comprises a box body, the top of the box body is fixedly connected with a traction driving device, and the other end of the traction driving device is fixedly connected with a placing bin. The interiors of cavities in the two ends of the box body are fixedly connected with the side wall of the containing bin through sliding supporting mechanisms, the bottom of the side wall of the box body is provided with a first-layer inlet and outlet, the side wall of the box body is provided with a second-layer inlet and outlet, and the top of the side wall of the box body is provided with a third-layer inlet and outlet. According to the box body provided by the utility model, the goods are fixed and prevented from moving in the lifting process on the basis that the goods are lifted in a layer-changing manner, so that the problem that the goods are not fixed and limited in the moving process of the existing full-automatic reciprocating type layer-changing lifting machine is solved; and the goods are easy to slide and can be clamped in the gap, so that the equipment is damaged.

The utility model relates to the technical field of winch traction driving, in particular to a rectangular frame adaptively connected with a winch, which comprises a reaming groove arranged in the middle of a vertical groove, the inner diameter of the reaming groove is larger than the width of the vertical groove, a through hole block is arranged in the middle of the reaming groove, and semi-arc blocks attached to the arc inner wall of the reaming groove are elastically mounted on two sides of the through hole block. The device has the advantages that the height-adjustable connecting frame is arranged at the end of the frame, the height of the connecting position is adjusted, a traction rope is parallel to the running direction, the through hole block and the semi-arc blocks which are elastically installed are matched, the height of the traction rope can be adjusted, and therefore the traction rope can be conveniently and rapidly moved, and the service life of the traction rope can be prolonged. Therefore, the deviation direction of the traction rope is judged according to the position height of the traction rope, accurate adjustment is facilitated, and stable traction driving between the rectangular frame and the winch is guaranteed.

The utility model belongs to the technical field of endoscopes, and particularly relates to a super-long bent angle structure of an endoscope. Comprising a snake bone formed by sequentially hinging a plurality of snake bone joints; the camera end part is arranged at the far end of the snake bone; the insertion tube is arranged at the near end of the snake bone; the traction line is circumferentially arranged in the snake bone and penetrates through a traction hole in the inner wall of the snake bone, one end of the traction line is connected with one snake bone joint located at the far end, and the other end of the traction line is connected with a traction driving mechanism; wherein each pull wire is formed by connecting two steel wire ropes with different rigidities end to end. According to the snake bone joint, the two steel wire ropes with different rigidities are connected end to end to form the pull wire, and the rigidity can be reduced by selecting the thinner steel wire rope, so that the bending angle of the snake bone joint is increased.

The invention relates to the technical field of water treatment, and discloses a water treatment device based on carbon fiber grass.The water treatment device comprises a guide suspension mechanism, traction transverse moving mechanisms are arranged at the two ends of the guide suspension mechanism, and traction protection mechanisms are arranged on the surfaces of the traction transverse moving mechanisms; a traction driving mechanism is arranged in the traction protection mechanism, and a traction positioning mechanism and a cleaning mechanism are arranged on one side of the traction protection mechanism. According to the water body treatment device based on the carbon fiber grass, through the arrangement of a guide suspension mechanism, a traction transverse moving mechanism, a traction protection mechanism, a traction driving mechanism, a traction positioning mechanism and a cleaning mechanism, the guide suspension mechanism can be driven to move through the traction driving mechanism during use; therefore, the carbon fiber aquatic plant body on the surface of the guide suspension mechanism can be recycled or re-laid on the shore, the situation that the carbon fiber aquatic plant body reaches the middle of a water body for replacement operation is avoided, and the convenience of replacement of the carbon fiber aquatic plant body is improved.

The utility model relates to the technical field of printing equipment, and particularly discloses a multifunctional composite cold stamping device. Comprising a rack, a plurality of cold-ironing flexographic printing seats and a first traction driving part, the cold-ironing flexographic printing seats are arranged on the rack and connected in sequence, the first traction driving part is used for pulling a first composite material to move forwards, a skip printing seat is arranged on the rack and provided with an inner ring frame body and an outer ring frame body, and the inner ring frame body is located between the outer ring frame body and the cold-ironing flexographic printing seats; the outer ring frame body is provided with a plurality of first traction rollers for pulling the first composite material; the inner ring frame is provided with a discharging shaft used for containing a second composite material, a discharging driving piece used for driving the discharging shaft to rotate, a second traction roller used for pulling the second composite material and a second traction driving piece used for driving the second traction roller to rotate. A composite pressing roller is arranged on the machine frame and located behind the cold-ironing flexographic printing bases. According to the utility model, the composite cold ironing mechanism comprising the skip printing seat is arranged, so that the double-layer laminating process can be completed in the same device, and the production efficiency is improved.

The present disclosure relates to a choke system for reducing common mode current in an AC drive system. The present disclosure addresses common mode current and bearing current in an alternating current (AC) drive system by using an AC choke assembly integrated with a shielded coaxial electrical cable. This design weakens common mode current and ensures electromagnetic compatibility. The AC choke assembly includes a magnetic core with an axial bore that receives a coaxial electrical cable. The cable is surrounded by a metal housing and insulated by a dielectric separator. An optional dielectric outer cover may further insulate the metal housing. Thermal interface pastes may be used to maximize heat transfer between layers of an AC choke. One side of the metal housing is connected to the first set of coaxial cable shield ends, or the other side may be connected to a traction drive unit (TDU) or a traction power inverter module (TPIM). Alternatively, the AC choke may be located in a middle section of the coaxial cable.

The invention relates to a method for controlling an electric traction drive machine of an electric motor vehicle drive, wherein a torque and a rotation speed of the traction drive machine is variably adjusted using a drive converter, in a drive mode of the motor vehicle the traction drive machine is operated as a motor and generates a drive torque by way of which drive wheels of the motor vehicle are driven, in a braking mode of the motor vehicle the traction drive machine is operated as a generator via the drive wheels of the motor vehicle and generates a braking torque by way of which the drive wheels of the motor vehicle are braked; for controlling the rotation speed of the traction drive machine, the current rotation speed of the traction drive machine is detected or calculated and is fed to the drive converter as an actual rotation speed, wherein the actual rotation speed is generated by smoothing the current rotation speed, and in the braking mode the braking torque is adjusted as a function of the actual rotation speed and / or the current vehicle speed. The method according to the invention is characterized in that in the braking mode the braking torque is additionally adjusted as a function of an at least indirectly detected current vehicle deceleration.