Coal mine robot overspeed and instability protection control system and method

• Main Authors: CHEN YONGRAN, QI NING, KANG XINDAN, ZHANG YAN, MA LONG, GUO CHANGNA, ZHAO BAISHUN, WU YUJING, WANG ZHE, YANG HUASONG
• Format: Patent
• Language: Chinese; English
• Published: 19.03.2024
• Subjects: CHAMBERS PROVIDED WITH MANIPULATION DEVICES; HAND TOOLS; MANIPULATORS; PERFORMING OPERATIONS; PORTABLE POWER-DRIVEN TOOLS; TRANSPORTING

The invention relates to the technical field of robot control, in particular to a coal mine robot overspeed and instability protection control system and method. The system comprises a sensor detection unit, a brake control unit and a core controller, the sensor detection unit comprises a posture detection sensor and a rotating speed sensor, the posture detection sensor is used for detecting the pitching angle of the robot in real time, and the rotating speed sensor is used for detecting the rotating speed of a robot driving motor in real time; the brake control unit comprises a driving controller and an electromagnetic brake. The driving controller is used for controlling starting, stopping and the rotating speed of a robot driving motor. The electromagnetic brake is connected with an output shaft of the driving motor, the electromagnetic brake is controlled by the core controller, and when the robot is unstable or overspeed, the driving controller controls the driving motor to brake; when the robot overspee