CN108639035B - High-speed bridge type robot power-off anti-falling system and method - Google Patents
High-speed bridge type robot power-off anti-falling system and method Download PDFInfo
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- CN108639035B CN108639035B CN201810699697.4A CN201810699697A CN108639035B CN 108639035 B CN108639035 B CN 108639035B CN 201810699697 A CN201810699697 A CN 201810699697A CN 108639035 B CN108639035 B CN 108639035B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/171—Detecting parameters used in the regulation; Measuring values used in the regulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
- B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
- B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
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Abstract
The invention relates to the technical field of intelligent control of robots; the system comprises a robot control part, a brake driving part, a brake control part and a brake power supply part, wherein the brake driving part comprises a brake medium stabilizer, a brake driver and a brake mechanism, the brake medium stabilizer provides brake medium for the brake mechanism through the brake driver, the robot control part comprises a robot controller, a clutch and a drive motor, each walking wheel is correspondingly provided with a set of clutch and drive motor, the brake control part comprises a brake controller, a velometer and a laser range finder, the two parallel guide rails of the bridge robot are respectively provided with the laser range finder, a set of velometer and the brake mechanism are arranged corresponding to each walking wheel, and the velometer and the laser range finder are connected with the brake controller. The invention can realize the stable deceleration of the bridge robot after power failure, prevent derailment and fall and ensure the use safety.
Description
Technical Field
The invention relates to the technical field of intelligent control of robots; in particular to a system and a method for preventing a high-speed bridge robot from falling off when power is cut off.
Background
Modern logistics and warehousing transportation have higher and higher requirements on the running speed of a large-span bridge robot, and power-off falling prevention has become an important subject for developing and producing high-speed bridge robots. Because large-scale bridge type robot high-speed operation (surpass 1.5m/s speed), whole inertia is very big, when cutting off the power supply suddenly, and traditional arresting gear can't guarantee safe speed reduction, easily appears the robot and derails the phenomenon of falling, has great potential safety hazard.
Disclosure of Invention
To solve the above technical problems, the present invention aims to: the power-off anti-falling system and method for the high-speed bridge robot can realize stable speed reduction of the bridge robot after power-off, prevent derailment and falling and ensure use safety.
The technical scheme adopted by the invention for solving the technical problem is as follows:
the high-speed bridge type robot power-off anti-falling system comprises a robot control part, a brake driving part, a brake control part and a brake power part, wherein the brake power part supplies power to the brake control part and the brake driving part, the brake driving part comprises a brake medium stabilizer, a brake driver and a brake mechanism, the brake medium stabilizer provides brake medium for the brake mechanism through the brake driver, the brake control part and the robot control part are both connected with the brake driver, the robot control part comprises a robot controller, a clutch and a driving motor, each traveling wheel is correspondingly provided with a group of clutch and a driving motor, the robot controller drives traveling wheels to rotate through the driving motor via the clutch, the brake control part comprises a brake controller, a velometer and a laser range finder, and the laser range finder is arranged on two parallel guide rails of the bridge type robot, a set of speedometer and a brake mechanism are arranged corresponding to each walking wheel, and the speedometer and the laser range finder are connected with a brake controller.
After emergency power failure, the travelling deviation of the robot rail-direction movement on the two guide rails is monitored in real time, the movement state of each travelling wheel is monitored, and the braking force of each travelling wheel is dynamically adjusted, so that the stability of the robot rail-direction movement in the travelling direction is kept, the robot rail is rapidly decelerated until the robot rail-direction movement stops, the most important thing in the whole process is to control the stability of the movement direction, stable electric energy and braking medium pressure supply are needed for the purpose, and the required electric energy for control is kept stable by a storage battery and regenerative power generation; the brake medium pressure is kept stable by the brake medium stabilizer.
Wherein, the preferred scheme is as follows:
the brake power supply part comprises a generator, a power generation controller and a storage battery, at least one walking wheel is provided with the generator, a rotating shaft of the generator is connected with a wheel shaft of the walking wheel through a clutch, the generator is connected with the storage battery through the power generation controller, and the storage battery supplies power to the brake control part and the brake driving part; the number of the generators can be flexibly set according to the weight and the braking requirements of the bridge type robot.
The clutch comprises a movable shifting fork, an electromagnet, a spring, a driving ratchet group and a braking ratchet group, wherein a wheel shaft of the traveling wheel is connected to a generator rotating shaft through the braking ratchet group, the wheel shaft of the traveling wheel is connected to a driving motor rotating shaft through the driving ratchet group, a movable chamber is arranged between the driving ratchet group and the braking ratchet group, the movable chamber is a cylinder sleeved on the periphery of the wheel shaft of the traveling wheel, two ends of the movable chamber are respectively connected with one ratchet wheel of the two ratchet groups through bearings, a sliding groove is arranged on the wheel shaft of the traveling wheel corresponding to the ratchet wheel, a sliding block is arranged on an inner ring of the ratchet wheel corresponding to the sliding groove, the movable chamber is hinged with one end of the shifting fork, the two sides of the other end of the shifting fork are respectively connected with the spring and the electromagnet, when the bridge robot is, the movable chamber is acted by a shifting fork to move towards a driving motor, ratchet wheels connected with two ends of the movable chamber move along a sliding groove along with the shifting fork until two ratchet wheels of a driving ratchet wheel set are meshed, at the moment, the two ratchet wheels of a braking ratchet wheel set are separated from each other, the driving motor drives the driving ratchet wheel set to rotate, then the walking wheel rotates, a sliding block can lock the relative positions of the ratchet wheels and a walking wheel shaft, the walking wheel rotates along with the driving ratchet wheel set, when power is off, electromagnet repulsion force disappears, the shifting fork resets under the elastic force action of a spring, the movable chamber drives the two ratchet wheels of the driving ratchet wheel set to be separated, then the two ratchet wheels of the braking ratchet wheel set are meshed, inertia of the bridge type robot drives the braking ratchet wheel set to generate electricity through a generator so as to be used.
The brake controller comprises an input multi-way switch, a brake main control unit and an output multi-way switch, wherein the input multi-way switch comprises a plurality of input switches with one inlet and two outlets, each velometer and each laser range finder are respectively connected with the input end of one input switch, the normally closed output end of each input switch is connected to the robot controller, the normally open output end of each input switch is connected to the brake main control unit, the output multi-way switch comprises a plurality of output switches with one inlet and one outlet, the number of the output switches is not less than that of the travelling wheels, the control end of each output switch is connected to the output end of the robot controller, the normally closed input end of each output switch is respectively connected to the robot controller, the normally open input end of each output switch is connected to the brake main control unit, and the output end; when the bridge type robot works in a hot-line mode, the control end of the input switch is provided with an electric signal, the normally closed output end is electrified, the measuring results of the velometer and the laser range finder are sent to the robot controller, similarly, the control end of the output switch is also provided with an electric signal, the normally closed input end is electrified, the robot controller sends a braking signal to the braking driver, after the emergency power-off, power is supplied to all working elements of the braking power supply portion, the control end of the input switch is not provided with an electric signal, the normally open output end of the input switch is electrified, the measuring results of the velometer and the laser range finder are sent to the braking main control unit, the control end of the output switch is not provided with an electric signal, the normally open input end is.
The brake driver comprises a main brake valve and an electric proportional valve, the electric proportional valve is connected to the brake mechanisms on the travelling wheels, the control ends of the main brake valve and the electric proportional valve are connected with a brake main control unit, the electric proportional valve is controlled by brake control signals respectively, the flow of brake media is adjusted, and then the brake force on each brake mechanism is trimmed.
The invention also provides a power-off anti-falling method of the high-speed bridge robot, which specifically comprises the following steps:
s1, after emergency power failure, applying the same braking force to each road wheel through a braking mechanism;
s2, calculating the speed v of the robot on the two guide rails through the distances measured by the laser distance measuring instrumentl，vr；
S3, judgment vl，vrWhether the values are zero at the same time, if yes, turning to S7, and if not, turning to S4;
s4, measuring the speed of each walking wheel through a speed measurer, and calculating the braking force applied to each walking wheel according to the measured speed of each walking wheel;
s5, the brake controller sends the brake signal of each road wheel to the brake driver according to the calculation result, and the brake medium stabilizer provides the brake medium to the brake mechanism of each road wheel through the brake driver;
s6, repeating S2-S5;
and S7, stopping the braking command and finishing braking.
In step S4, the braking force adjustment strategy for each road wheel is:
s41, if the speed of a certain running wheel is zero, vl，vrReducing the braking force of the walking wheel with the speed of zero until the speed of the walking wheel is not zero;
s42, when the speeds of the travelling wheels on the guide rails on the same side are unequal, increasing the braking force of the travelling wheels with high speed until the speeds of the travelling wheels on the same side are equal;
and S43, when the laser range finder detects that the travel distances on the two guide rails have deviation, proportionally increasing the braking force of the road wheel on the side with the high travel speed according to the deviation until the deviation of the travel distances is zero or stopping.
Preferably, after the bridge type robot is powered off, the clutch of the walking wheel is combined with the generator, the inertia of the bridge type robot is utilized to drive the generator to generate electricity, the storage battery is charged by the electricity generation controller, and the storage battery supplies power to the laser range finder, the velometer, the brake controller and the brake driver; after the bridge type robot is electrified, the clutch of the walking wheel is combined with the driving motor, the brake controller enters an electrified working state by detecting signals of the robot controller, and the laser range finder and the velometer are switched to the robot controller for control.
Compared with the prior art, the invention has the following beneficial effects:
the invention can realize the stable deceleration of the bridge robot after power failure, prevent derailment and fall and ensure the use safety. After emergency power failure, the travelling deviation of the robot rail-direction movement on the two guide rails is monitored in real time, the movement state of each travelling wheel is monitored, and the braking force of each travelling wheel is dynamically adjusted, so that the stability of the robot rail-direction movement in the travelling direction is kept, the robot rail is rapidly decelerated until the robot rail-direction movement stops, the most important thing in the whole process is to control the stability of the movement direction, stable electric energy and braking medium pressure supply are needed for the purpose, and the required electric energy for control is kept stable by a storage battery and regenerative power generation; the brake medium pressure is kept stable by the brake medium stabilizer.
Drawings
FIG. 1 is a block diagram of the present invention.
FIG. 2 is a schematic diagram of the clutch when de-energized.
FIG. 3 is a schematic diagram of the clutch with power.
Fig. 4 is a schematic block diagram of the input multiplexer.
Fig. 5 outputs a block diagram of the multi-way switch.
Fig. 6 is a schematic diagram of a brake actuator configuration.
FIG. 7 is a logic flow diagram of the present invention.
In the figure: 1. a brake controller; 2. a brake actuator; 3. a brake mechanism; 4. a traveling wheel; 5. a velometer; 6. a clutch; 7. a generator; 8. a power generation controller; 9. a storage battery; 10. a laser range finder; 11. a brake media stabilizer; 12. a robot controller; 13. a drive motor; 14. a guide rail; 15. a master brake valve; 16. an electric proportional valve; 17. a shifting fork; 18. an electromagnet; 19. a spring; 20. an activity room; 21. a driving ratchet group; 22. braking the ratchet wheel set.
Detailed Description
Example 1:
as shown in fig. 1, the high-speed bridge robot power-off anti-drop system of the invention comprises a robot control part, a brake driving part, a brake control part and a brake power part, wherein the brake power part supplies power to the brake control part and the brake driving part, the brake driving part comprises a brake medium stabilizer 11, a brake driver 2 and a brake mechanism 3, the brake medium stabilizer 11 supplies brake medium to the brake mechanism 3 through the brake driver 2, the brake control part and the robot control part are both connected with the brake driver 2, the robot control part comprises a robot controller 12, a clutch 6 and a driving motor 13, each walking wheel 4 is correspondingly provided with a set of clutch 6 and a driving motor 13, the robot controller 12 drives the walking wheels 4 to rotate through the clutch 6 through the driving motor 13, the brake control part comprises a brake controller 1, a velometer 5 and a laser range finder 10, all set up laser range finder 10 on two parallel guide rails 14 of bridge type robot, correspond every walking wheel 4 and set up a set of velometer 5 and brake mechanism 3, velometer 5 and laser range finder 10 all link to each other with brake controller 1, and brake mechanism 3 and brake medium stabilizer 11 all adopt the product of selling now on the market.
The braking power supply part comprises a generator 7, a power generation controller 8 and a storage battery 9, the generator 7 is arranged on at least one walking wheel 4, a rotating shaft of the generator 7 is connected with a wheel shaft of the walking wheel 4 through a clutch 6, the generator 7 is connected with the storage battery 9 through the power generation controller 8, and the storage battery 9 supplies power for the braking control part and the braking driving part; the number of the generators 7 can be flexibly set according to the weight and the braking requirements of the bridge type robot.
As shown in fig. 2-3, the clutch 6 includes a shifting fork 17, an electromagnet 18, a spring 19, a driving ratchet set 21 and a braking ratchet set 22, a wheel shaft of the walking wheel 4 is connected to a rotating shaft of the generator 7 through the braking ratchet set 22, the wheel shaft of the walking wheel 4 is connected to a rotating shaft of the driving motor 13 through the driving ratchet set 21, a movable chamber 20 is arranged between the driving ratchet set 21 and the braking ratchet set 22, the movable chamber 20 is a cylinder sleeved on the periphery of the wheel shaft of the walking wheel 4, two ends of the movable chamber 20 are respectively connected with a ratchet wheel of the two ratchet sets through bearings, a sliding slot is arranged on the wheel shaft of the walking wheel 4 corresponding to the ratchet wheel, a sliding block is arranged on the inner ring of the ratchet wheel corresponding to the sliding slot, the movable chamber 20 is hinged with one end of the shifting fork 17, two sides of the other end of, the electromagnet 18 is powered by an I/O of the bridge robot controller 12, when the bridge robot is powered, the electromagnet 18 is powered on, according to the principle that like poles repel each other, the spring 19 is extruded by the repulsive force of the electromagnet 18 on the shifting fork 17, one end of the shifting fork 17 connected with the spring 19 inclines towards the spring 19, the movable chamber 20 moves towards the driving motor 13 under the action of the force of the shifting fork 17, the ratchet wheels connected with two ends of the movable chamber move along the sliding chute until the two ratchet wheels of the driving ratchet wheel set 21 are meshed, at the moment, the two ratchet wheels of the braking ratchet wheel set 22 are separated from each other, the driving motor 13 drives the driving ratchet wheel set 21 to rotate, the traveling wheel 4 rotates, the sliding block can lock the relative position of the ratchet wheels and the wheel shaft of the traveling wheel 4, the traveling wheel 4 rotates along with the driving ratchet wheel set 21, when the power is off, the movable chamber 20 drives two ratchets of the driving ratchet set 21 to separate, then two ratchets of the braking ratchet set 22 are meshed, the inertia of the bridge robot drives the braking ratchet set 21 to generate electricity through the generator 7 for braking, and the shifting fork 17 is hinged with the movable chamber 20 in the conventional hinging mode.
As shown in fig. 3-4, the brake controller 1 includes an input multi-way switch, a brake master control unit and an output multi-way switch, the input multi-way switch includes a plurality of input switches with one input and two outputs, each velometer 5 and each laser range finder 10 are respectively connected with an input end of an input switch, a normally closed output end of each input switch is connected to the robot controller 12, a normally open output end of each input switch is connected to the brake master control unit, the output multi-way switch includes a plurality of output switches with one input and two output, the number of the output switches is not less than the number of the walking wheels 4, in this embodiment, the bridge robot has four walking wheels 4, the velometers 5 and the output switches are also four, a control end of each output switch is connected to the output end of the robot controller 12, a normally closed input end of each output switch is respectively connected to the robot controller 12, and a normally open input, the output end of each output switch is connected to the brake driver 2; when the bridge type robot works in a hot-line mode, the control end of the input switch is provided with an electric signal, the normally closed output end is electrified, the measurement results of the speedometer 5 and the laser range finder 10 are sent to the robot controller 12, similarly, the control end of the output switch is also provided with an electric signal, the normally closed input end is electrified, the robot controller 12 sends a braking signal to the braking driver 2, after the emergency power failure, power is supplied to all working elements of the braking power supply portion, the control end of the input switch is not provided with an electric signal, the normally open output end of the input switch is electrified, the measurement results of the speedometer 5 and the laser range finder 10 are sent to the braking main control unit, the control end of the output switch is not provided with an electric signal, the normally open input end is electrified.
As shown in fig. 5, the brake actuator 2 includes a master brake valve 15 and an electric proportional valve 16, the electric proportional valve 16 is connected to the brake mechanisms 3 on each road wheel 4, control ends of the master brake valve 15 and the electric proportional valve 16 are connected to a master brake control unit, and the brake control signals respectively control the electric proportional valve 16 to adjust the flow of the brake medium, so as to modify the braking force on each brake mechanism.
After emergency power failure, the running deviation of the robot in the rail-direction motion on the two guide rails 14 is monitored in real time, the motion state of each walking wheel 4 is monitored, and the braking force of each walking wheel 4 is dynamically adjusted, so that the stability of the running direction of the robot in the rail-direction motion is kept, the robot is rapidly decelerated until the robot stops, the most important thing in the whole process is to control the stability of the moving direction, stable electric energy and brake medium pressure supply are needed for the purpose, and the electric energy needed by control is kept stable by the storage battery 9 and regenerative power generation; the brake medium pressure is kept stable by the brake medium stabilizer 11.
Example 2:
as shown in fig. 6, this embodiment provides a method for preventing a high-speed bridge robot from falling when power is off based on embodiment 1, which specifically includes:
s1, after an emergency power failure, applying a braking force with the same magnitude to each road wheel 4 through the braking mechanism 3, wherein the value of the braking force is preferably the total maximum braking force that can be applied by the current braking mechanism 3, assuming that the total maximum braking force that can be applied by the current braking mechanism 3 is F, taking four road wheels 4 as an example, the braking force applied by each road wheel 4 is F/4;
s2, calculating the speed v of the robot on the two guide rails 14 through the distances respectively measured by the laser range finder 10l，vr；
S3, judgment vl，vrWhether the values are zero at the same time, if yes, turning to S7, and if not, turning to S4;
s4, measuring the speed of each walking wheel 4 through a speed measurer 5, and calculating the braking force applied to each walking wheel 4 according to the measured speed of each walking wheel 4;
s5, the brake controller 1 sends the brake signal of each road wheel 4 to the brake driver 2 according to the calculation result, and the brake medium stabilizer 11 provides the brake medium to the brake mechanism 3 of each road wheel 2 through the brake driver 2;
s6, repeating S2-S5;
and S7, stopping the braking command and finishing braking.
In step S4, the braking force adjustment strategy for each road wheel is:
s41, if the speed of a certain traveling wheel 4 is zero, vl，vrReducing the braking force of the walking wheel 4 with the speed of zero until the speed of the walking wheel 4 is not zero;
s42, when the speeds of the walking wheels 4 on the guide rails 14 on the same side are unequal, increasing the braking force of the walking wheels 4 with high speed until the speeds of the walking wheels 4 on the guide rails 14 on the same side are equal;
and S43, when the laser range finder 10 detects that the travel distances on the two guide rails 14 are deviated, proportionally increasing the braking force of the road wheel 4 on the side with the measured large travel speed according to the deviation until the deviation of the travel distances is zero or the road wheel 4 stops traveling.
Claims (7)
1. A high-speed bridge type robot power-off anti-falling system is characterized by comprising a robot control part, a brake driving part, a brake control part and a brake power part, wherein the brake power part supplies power to the brake control part and the brake driving part, the brake driving part comprises a brake medium stabilizer (11), a brake driver (2) and a brake mechanism (3), the brake medium stabilizer (11) provides brake medium for the brake mechanism (3) through the brake driver (2), the brake control part and the robot control part are both connected with the brake driver (2), the robot control part comprises a robot controller (12), a clutch (6) and a driving motor (13), each walking wheel (4) is correspondingly provided with a group of clutch (6) and a driving motor (13), the robot controller (12) drives the walking wheels (4) to rotate through the clutch (6) through the driving motor (13), the braking control part comprises a braking controller (1), a speedometer (5) and a laser range finder (10), the laser range finder (10) is arranged on two parallel guide rails (14) of the bridge type robot, a group of speedometers (5) and braking mechanisms (3) are arranged corresponding to each traveling wheel (4), and the speedometers (5) and the laser range finders (10) are connected with the braking controller (1);
the brake controller (1) comprises an input multi-way switch, a brake main control unit and an output multi-way switch, the input multi-way switch comprises a plurality of input switches with one inlet and two outlets, each velometer (5) and each laser range finder (10) are respectively connected with the input end of one input switch, two output ends of each input switch are respectively connected to the robot controller (12) and the brake main control unit, the output multi-way switch comprises a plurality of output switches with one inlet and one outlet, the number of the output switches is not less than that of the walking wheels (4), the control end of each output switch is connected to the output end of the robot controller (12), the input end of each output switch is respectively connected to the robot controller (12) and the brake main control unit, and the output end of each output switch is connected to the brake driver (2).
2. The power-off and drop-prevention system for the high-speed bridge robot according to claim 1, wherein the brake power supply portion comprises a generator (7), a power generation controller (8) and a storage battery (9), the generator (7) is arranged on at least one traveling wheel (4), a rotating shaft of the generator (7) is connected with a wheel shaft of the traveling wheel (4) through a clutch (6), the generator (7) is connected with the storage battery (9) through the power generation controller (8), and the storage battery (9) supplies power to the brake control portion and the brake driving portion.
3. The power-off fall-prevention system of the high-speed bridge robot according to claim 2, wherein the clutch (6) comprises a movable shifting fork (17), an electromagnet (18), a spring (19), a driving ratchet set (21) and a braking ratchet set (22), a wheel shaft of the traveling wheel (4) is connected to a rotating shaft of the generator (7) through the braking ratchet set (22), the wheel shaft of the traveling wheel (4) is connected to a rotating shaft of the driving motor (13) through the driving ratchet set (21), a movable chamber (20) is arranged between the driving ratchet set (21) and the braking ratchet set (22), the movable chamber (20) is a cylinder sleeved on the periphery of the wheel shaft of the traveling wheel (4), two ends of the movable chamber (20) are respectively connected with one ratchet wheel of the two ratchet sets through bearings, a sliding groove is arranged on the wheel shaft of the traveling wheel (4) corresponding to the ratchet, and a sliding block is, the movable chamber (20) is hinged with one end of a shifting fork (17), and two sides of the other end of the shifting fork (17) are respectively connected with a spring (19) and an electromagnet (18).
4. The high-speed bridge robot power-off drop-prevention system according to claim 1, characterized in that the brake driver (2) comprises a master brake valve (15) and an electric proportional valve (16), the electric proportional valve (16) is connected to the brake mechanism (3) on each road wheel (4), and the control ends of the master brake valve (15) and the electric proportional valve (16) are connected to a master brake control unit.
5. A power-off anti-falling method for a high-speed bridge robot is characterized by comprising the following steps:
s1, after emergency power failure, applying the same braking force to each road wheel (4) through the braking mechanism (3);
s2, calculating the speed v of the robot on the two guide rails (14) through the distances measured by the laser range finder (10) respectivelyl，vr；
S3, judgment vl，vrWhether the values are zero at the same time, if yes, turning to S7, and if not, turning to S4;
s4, measuring the speed of each walking wheel (4) through a speed measurer (5), and calculating the braking force applied to each walking wheel (4) according to the measured speed of each walking wheel (4);
s5, the brake controller (1) sends a brake signal of each road wheel (4) to the brake driver (2) according to the calculation result, and the brake medium stabilizer (11) provides a brake medium to the brake mechanism (3) of each road wheel (4) through the brake driver (2);
s6, repeating S2-S5;
and S7, stopping the braking command and finishing braking.
6. The power-off fall prevention method for the high-speed bridge robot according to claim 5, wherein in step S4, the braking force adjustment strategy of each traveling wheel (4) is:
s41, if the speed of a certain travelling wheel (4) is zero, vl，vrReducing the braking force of the walking wheel (4) with the speed of zero when the speed of the walking wheel (4) is not zero;
s42, when the speeds of the walking wheels (4) on the guide rails (14) on the same side are unequal, the braking force of the walking wheels (4) with high speed is increased until the speeds of the walking wheels (4) on the same side are equal;
and S43, when the laser range finder (10) detects that the travel distances on the two guide rails (14) have deviation, proportionally increasing the braking force of the side travelling wheel (4) with the detected large travel speed according to the deviation until the deviation of the travel distances is zero or stops.
7. The power-off and anti-falling method of the high-speed bridge robot is characterized in that after the bridge robot is powered off, a clutch (6) of a traveling wheel (4) is combined with a generator (7), the generator (7) is driven to generate power by using inertia of the bridge robot, a storage battery (9) is charged through a power generation controller (8), and the laser range finder (10), a speed measurer (5), a brake controller (1) and a brake driver (2) are powered by the storage battery (9); after the bridge type robot is electrified, a clutch (6) of a walking wheel (4) is combined with a driving motor (13), a brake controller (1) enters an electrified working state by detecting signals of a robot controller (12), and a laser range finder (10) and a velometer (5) are switched to the robot controller (12) for control.
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| CN103696365A (en) * | 2014-01-15 | 2014-04-02 | 上海同济建设工程质量检测站 | Cable-stayed bridge cable robot |
| CN106160620A (en) * | 2016-07-15 | 2016-11-23 | 武汉大学 | A kind of unpowered descending speed control method |
| CN107272691A (en) * | 2017-07-17 | 2017-10-20 | 西安工业大学 | A kind of Intelligent navigation robot cart system |
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| US20050023052A1 (en) * | 2003-02-21 | 2005-02-03 | Beck Michael S. | Vehicle having an articulated suspension and method of using same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102490707A (en) * | 2011-12-15 | 2012-06-13 | 奇瑞汽车股份有限公司 | Brake control method |
| CN103696365A (en) * | 2014-01-15 | 2014-04-02 | 上海同济建设工程质量检测站 | Cable-stayed bridge cable robot |
| CN106160620A (en) * | 2016-07-15 | 2016-11-23 | 武汉大学 | A kind of unpowered descending speed control method |
| CN107272691A (en) * | 2017-07-17 | 2017-10-20 | 西安工业大学 | A kind of Intelligent navigation robot cart system |
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