Monorail hoist transportation robot driven by permanent magnet and variable frequency of explosion-proof lithium battery

A monorail hoist transportation robot driven by permanent magnet and variable frequency of an explosion-proof lithium battery, characterized in that, the robot is moved by a suspension track (6), the robot comprises a main controller, a state perception system, and a cockpit (1), a lifting device (2) and a plurality of driving units (4) all suspended on the suspension track (6), the cockpit (1) is configured to control the monorail hoist transportation robot by a driver, and the lifting device (2) is configured to load cargoes;

• each driving unit (4) includes a motor (44), and each motor (44) has operation modes including a constant power mode and a constant torque mode;
• the state perception system is configured to detect a travelling state of the monorail hoist transportation robot, and the operation mode of the motor (44) is adjusted by the main controller through the travelling state obtained by the state perception system, specifically:
• when the state perception system detects that the monorail hoist transportation robot is in a stable travelling state, the constant power mode is maintained by the motor (44);
• when the state perception system detects that the monorail hoist transportation robot is in an acceleration starting state, each motor (44) is accelerated in the constant torque mode, when the motor (44) is reached a rated power, the operation mode of the motor is converted into the constant power mode;
• when the state perception system detects that parts of the driving units (4) are began to climb a slope, the operation modes of the motors (44) corresponding to the driving units (4) not climbing the slope are converted into the constant torque mode, a resistance Fi increased by the driving units (4) climbing the slope is evenly distributed to the each driving unit (4), the driving units (4) not climbing the slope are decelerated, and a rotational speed of the corresponding motor (44) after deceleration is Ni, wherein Ni is required to be calculated and obtained based on a stable travelling speed V of the monorail hoist transportation robot and a circumference Ci of a corresponding driving wheel (45), the stable travelling speed V of the monorail hoist transportation robot is calculated and obtained based on the resistance Fi, when all the driving units (4) are reached the slope, the operation modes of the corresponding motors (44) are converted into the constant power mode, when the state perception system detects that the cockpit (1) in the monorail hoist transportation robot is driven out of the slope, the operation modes of the motors (44) corresponding to the driving units (4) passing through the slope are converted into the constant torque mode, and then a torque value corresponding to the constant torque mode is a value before climbing;
• when the state perception system detects that parts of the driving units (4) are began to descend the slope, the operation modes of the motors (44) corresponding to the driving units (4) descending a slope are converted into the constant torque mode, then a force Fj increased by the driving units (4) descending the slope in a running direction is evenly distributed to each driving unit (4), when all the driving units (4) are reached to the slope, the operation mode of the motor (44) corresponding to each driving unit (4) is converted into the constant power mode, when the state perception system detects that the cockpit (1) in the monorail hoist transportation robot is driven away from the slope, the operation modes of the motors (44) corresponding to the driving units (4) not driven away from the slope is converted into the constant torque mode.