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

    本发明涉及无损探伤设备技术领域,尤其涉及一种消除爬壁小车下坡抖动的小车控制方法。本发明采用如下技术方案:通过对爬壁小车两侧的车轮采用不同的驱动电机进行驱动,当小车处于下坡状态时,通过将两侧驱动电机中的一侧的最大扭矩调小,转速则调大,从而使得小车在下坡时,两侧的驱动电机对小车施加不同方向的作用力,并通过驱动电机的驱动器对驱动电机的输出扭矩大小的检测,判断小车的移动状态。本发明的有益效果在于:可以有效避免小车下坡时因驱动电机与车轮之间的啮合状态出现不稳定的情况,提高小车下坡过程的稳定性,且无需专门设置传感器对小车移动状态进行检测,降低小车的相关成本以及控制难度。


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    Title :

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


    Additional title:

    一种消除爬壁小车下坡抖动的小车控制方法


    Contributors:
    LI BIN (author) / HUANG YINAN (author) / WANG ZIQING (author) / GUO JINGFENG (author) / LEE KANG-WOO (author)

    Publication date :

    2025-04-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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