CN114750143A

CN114750143A - Energy recovery rope robot, control method and device thereof, and storage medium

Info

Publication number: CN114750143A
Application number: CN202210570198.1A
Authority: CN
Inventors: 谭智波; 付胜杰; 郑亚青; 高丽华; 缪骋; 林添良; 李芊芊
Original assignee: Huaqiao University
Current assignee: Huaqiao University
Priority date: 2022-05-24
Filing date: 2022-05-24
Publication date: 2022-07-15
Anticipated expiration: 2042-05-24
Also published as: CN114750143B

Abstract

The embodiment of the invention provides an energy recovery rope robot and a control method, a control device and a storage medium thereof, and relates to the technical field of parallel robots. Wherein, this kind of rope robot contains control assembly, handling subassembly and at least two power components. The power assembly comprises a T-shaped groove platform, a winch, a support column jointed with the T-shaped groove platform, a guide pulley jointed with the support column, a sling with two ends respectively jointed with the winch and the carrying assembly, a motor and a clutch jointed with the winch, a driver electrically connected with the motor, a pump motor jointed with the clutch, an oil tank and an electric control valve respectively jointed with the inlet and the outlet of the pump motor, a hydraulic energy accumulator jointed with the electric control valve, and a pressure sensor jointed between the pump motor and the hydraulic energy accumulator. The control assembly is electrically connected to the driver, the pressure sensor and the solenoid valve. The rope robot recovers potential energy in the process of descending the heavy object, reduces the electric energy consumption of the motor, and improves the energy utilization rate and the working efficiency of the whole device.

Description

Energy recovery rope robot, control method and device thereof, and storage medium

Technical Field

The invention relates to the technical field of parallel robots, in particular to an energy recovery rope robot, a control method and a control device of the energy recovery rope robot, and a storage medium of the energy recovery rope robot.

Background

Cargo handling is of great importance in the industries of processing lines, packaging and palletizing, machine manufacturing and the like, and hoisting machines currently play a main role in handling heavy cargos, such as gantry cranes, wheel cranes and the like, but the handling precision depends on the proficiency of operators.

With the rapid development of economy, various emerging industries rapidly rise, and the labor force structure of the society is changed while the economy is increased. In recent years, robot technology is also applied to the transportation industry, and serial robots are widely applied to various industrial transportation industries due to the characteristics of large working space, good flexibility and the like, but the serial robots have the defects of low load ratio, low rigidity, large accumulated error and the like and are not suitable for various heavy-load occasions.

In view of the above, the applicant has specifically proposed the present application after studying the existing technology.

Disclosure of Invention

The invention provides an energy recovery rope robot, a control method and a control device thereof, and a storage medium, which aim to solve the technical problems.

First aspect,

The embodiment of the invention provides an energy recovery rope robot which comprises a control assembly, a carrying assembly and at least two power assemblies. The handling assembly is used for being jointed with the load so as to drive the load to move.

The power assembly comprises a T-shaped groove platform, a winch, a support column jointed with the T-shaped groove platform, a guide pulley jointed with the support column, a sling, a motor, a driver, a clutch, a pump motor, an oil tank, an electric control valve, a hydraulic energy accumulator and a pressure sensor, wherein the sling is jointed with the winch and the carrying assembly through the guide pulley, two ends of the sling are respectively jointed with the winch and the carrying assembly, the motor is jointed with the winch, the driver is electrically connected with the motor, the clutch is jointed with the winch, the pump motor is jointed with the clutch, the oil tank and the electric control valve are respectively jointed with an inlet and an outlet of the pump motor, the hydraulic energy accumulator is jointed with the electric control valve, and the pressure sensor is jointed between the pump motor and the hydraulic energy accumulator.

The control assembly comprises an upper computer and a motion controller electrically connected with the upper computer. The motion controller is electrically connected to the driver, the pressure sensor and the solenoid valve.

The second aspect,

The embodiment of the invention provides a control method of a rope robot for energy recovery, which comprises a step S1 to a step S4.

And S1, obtaining the trajectory planning of the rope robot.

And S2, controlling the motor to run according to the trajectory plan, and judging the working condition of the load.

And S3, when the working condition of the load is judged to be descending, the electromagnetic valve is opened and the clutch is connected, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic accumulator through the pump motor for energy recovery, and meanwhile, whether the pressure of the hydraulic accumulator exceeds a preset value is judged. And when the pressure of the hydraulic accumulator exceeds the preset value, closing the electromagnetic valve and disconnecting the clutch.

And S4, judging whether the pressure of the hydraulic accumulator is larger than a preset value or not when the working condition of the load is judged to be ascending. And when the pressure of the hydraulic accumulator is judged to be greater than the preset value, the electromagnetic valve is opened and the clutch is connected, so that the hydraulic accumulator drives the pump motor to run, and the winch is driven in an auxiliary mode.

The third aspect,

The embodiment of the invention provides a control device of a rope robot for energy recovery, which comprises:

and the track acquisition module is used for acquiring the track plan of the rope robot.

And the working condition judgment module is used for controlling the motor to operate according to the trajectory plan and judging the working condition of the load.

And the first execution module is used for opening the electromagnetic valve and connecting the clutch when the working condition of the load is judged to be descending, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic energy accumulator through the pump motor for energy recovery, and meanwhile, whether the pressure of the hydraulic energy accumulator exceeds a preset value is judged. And when the pressure of the hydraulic accumulator is judged to exceed the preset value, closing the electromagnetic valve and disconnecting the clutch.

And the second execution module is used for judging whether the pressure of the hydraulic accumulator is greater than a preset value or not when the working condition of the load is judged to be rising. And when the pressure of the hydraulic accumulator is judged to be greater than the preset value, the electromagnetic valve is opened and the clutch is connected, so that the hydraulic accumulator drives the pump motor to operate, and the winch is driven in an auxiliary mode.

The fourth aspect,

An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium includes a stored computer program, wherein the apparatus in which the computer-readable storage medium is located is controlled to perform the control method of the rope robot according to any one of the second aspect when the computer program is executed.

By adopting the technical scheme, the invention can obtain the following technical effects:

the rope robot with the energy recovery function can be used for operation of heavy object transportation, hoisting and the like, has a large working range and a simple structure, can automatically finish heavy object transportation operation with high precision, recovers potential energy in the process of descending heavy objects, can assist a motor to drive the operation with the recovered energy, reduces the electric energy consumption of the motor, and improves the energy utilization rate and the working efficiency of the whole device.

In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is an isometric view of a rope robot provided in accordance with a first embodiment of the present invention;

fig. 2 is a plan view of a rope robot according to a first embodiment of the present invention;

fig. 3 is a control schematic diagram of a rope robot according to a first embodiment of the present invention;

fig. 4 is a flowchart illustrating a control method according to a second embodiment of the present invention.

The mark in the figure is: the hydraulic control system comprises a support column 1, a T-shaped groove platform 2, a cross beam 3, a guide pulley 4, a winch 5, a carrying platform 6, a hoisting part 7, a sling 8, an electric control cabinet 9, a motor 10, a driver 11, an upper computer 12, a motion controller 13, a clutch 14, a pump motor 15, an oil tank 16, a first pressure sensor 17, a second pressure sensor 18, a hydraulic accumulator 19, an electric control valve 20 and an overflow valve 21.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In order to better understand the technical scheme of the invention, the following detailed description of the embodiments of the invention is made with reference to the accompanying drawings.

The terminology used in the embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the description of the invention and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be understood that the term "and/or" as used herein is merely a relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B, may represent: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.

In the embodiments, the references to "first \ second" are merely to distinguish similar objects and do not represent a specific ordering for the objects, and it is to be understood that "first \ second" may be interchanged with a specific order or sequence, where permitted. It should be understood that "first \ second" distinct objects may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced in sequences other than those illustrated or described herein.

The invention is described in further detail below with reference to the following detailed description and accompanying drawings:

the first embodiment is as follows:

referring to fig. 1 to 3, a first embodiment of the present invention provides an energy-recovering rope robot, which includes a control assembly, a carrying assembly and at least two power assemblies. The handling assembly is used for being jointed with the load so as to drive the load to move.

The power assembly comprises a T-shaped groove platform 2, a winch 5, a support column 1 jointed with the T-shaped groove platform 2, a guide pulley 4 jointed with the support column 1, a sling 8 which passes through the guide pulley 4 and is respectively jointed with the winch 5 and the carrying assembly at two ends, a motor 10 jointed with the winch 5, a driver 11 electrically connected with the motor 10, a clutch 14 jointed with the winch 5, a pump motor 15 jointed with the clutch 14, an oil tank 16 and an electric control valve 20 respectively jointed with an inlet and an outlet of the pump motor 15, a hydraulic accumulator 19 jointed with the electric control valve 20, and a pressure sensor jointed between the pump motor 15 and the hydraulic accumulator 19. Preferably, the motor 10 and the clutch 14 are respectively coupled to the rotation shaft of the winding machine 5.

The control assembly comprises an upper computer 12 and a motion controller 13 electrically connected with the upper computer 12. The motion controller 13 is electrically connected to the driver 11, the pressure sensor, and the solenoid valve. Preferably, the rope robot further comprises an electric control cabinet 9. The electric control cabinet 9 is electrically connected with the motor 10, the driver 11 and the motion controller 13 and is used for supplying power to the motor 10, the driver 11 and the motion controller 13.

Preferably, the rope robot further comprises a reinforcement assembly comprising a cross beam 3 arranged between the support columns 1.

Specifically, the T-shaped groove platform 2 and the bottom of the support column 1 are fixed through bolts, the cross beam 3 is added between the connected support columns 1 for reinforcement, the whole structure is easy to disassemble, and the T-shaped groove platform can be reassembled according to different requirements. The pulley block is fixed on the top of the support column 1; three servo motors 10 and drivers 11 are arranged below the support column 1 and connected with the winch 5, the rotation of the motors 10 drives the winch 5 to rotate, and the steel wire rope is wound on the winch 5 and connected with a lifting ring of the carrying platform 6 through a guide pulley 4 group; the winch 5 rotates to drive the rope to be wound and unwound, so that the carrying platform 6 moves according to an expected planned track; the motion controller 13 is connected with the motor driver 11 and the upper computer 12, performs track planning through the upper computer 12 according to actual carrying requirements, and sends a track control command to the motion controller 13; the encoder of the motor 10 and the upper computer 12 form real-time communication, and the tail end track is continuously optimized by feeding back the actual rotating speed of the motor 10 in real time; the winch 5 is characterized in that a rotating shaft is connected with a clutch 14, the clutch 14 is connected with a pump motor 15, the pump motor 15 is connected with an oil tank 16, an outlet of the pump motor 15 is connected with a first pressure sensor 17, an electromagnetic valve is connected with a hydraulic accumulator 19, the hydraulic accumulator 19 is connected with an overflow valve 21 and a second sensor, the overflow valve 21 is connected with an oil cylinder, and the first sensor, the second sensor and a proportional electromagnetic valve are all connected with a motion controller 13 to form communication.

According to the rope robot with the recoverable capacity, disclosed by the embodiment of the invention, the sling 8 is used for replacing a rigid connecting rod of a traditional parallel robot, the manufacturing cost is reduced, the working space of the robot is increased, the advantages of strong load capacity and high precision are reserved, the platform is convenient to disassemble and recombine, and the mechanism structure can be changed according to different working environments. The heavy object transportation operation can be automatically completed according to the trajectory planning. The upper computer 12, the controller, the motor driver 11, the motor 10, the winding drum and the tail end carrying platform 6 are connected to form real-time communication, different tracks can be planned according to different working conditions, and cargo carrying operation can be automatically completed at high precision.

The driving unit is additionally provided with a hydraulic system (a pump motor 15 and a hydraulic accumulator 19) which can recover potential energy in the process of lowering the heavy object and can assist the motor 10 in driving operation by the recovered energy, so that the electric energy consumption of the motor 10 is reduced, and the energy utilization rate and the working efficiency of the whole device are improved.

On the basis of the above embodiments, as shown in fig. 1 and 2, in an alternative embodiment of the present invention, the rope robot comprises three power assemblies. Specifically, the beam 3 is a steel frame beam 3. The three power assemblies form a triangle, and the rope robot is used for moving the carrying assembly within the range of the triangle.

It should be noted that, in other embodiments, the number of the power assemblies may be four or five, and other numbers, and the invention is not limited in this regard.

Preferably, the carrying assembly comprises a carrying platform 6 and a hoisting part 7 arranged on the carrying platform 6. The sling 7 is used for connecting a sling 8. The sling 8 is a steel wire rope. In this embodiment, the carrying assembly is used as a platform for placing a load, in other embodiments, the carrying assembly may be used as a hook for lifting the load, and the specific structure of the carrying assembly is not limited in the present invention.

As shown in fig. 3, in an alternative embodiment of the present invention based on the above embodiment, the power module further includes a relief valve 21 coupled between the solenoid valve and the oil tank 16. The power assembly comprises a first pressure sensor 17 and a second pressure sensor 18. The first pressure sensor 17 is coupled between the pump motor 15 and the solenoid valve. A second pressure sensor 18 is coupled between the solenoid valve and a hydraulic accumulator 19. Specifically, the electromagnetic valve is a two-position two-way proportional electromagnetic valve.

Example II,

Embodiments of the present invention provide a control method of an energy-recovering rope robot, which may be performed by the rope robot for energy recovery, and in particular, by one or more processors in the rope robot, to implement steps S1 to S4.

And S1, obtaining the trajectory planning of the rope robot.

Specifically, the actual demand for load movement is obtained according to the control command of the remote controller or the control command of the automation system, the upper computer 12 plans a carrying track according to the actual working condition demand, the track is planned and sent to the motion controller 13, the motion controller 13 sends the track command to the motor driver 11, the motor 10 is driven to rotate, actual rotating speed information can be obtained by the motor 10 with an encoder, the actual rotating speed information is fed back to the motion controller 13 through the motor driver 11, the motion controller 13 feeds back error information to the upper computer 12, and the upper computer 12 continuously corrects the track according to the error information to form closed-loop control.

It can be understood that the planning of the carrying trajectory of the part according to the working condition requirements belongs to the prior art, and the present invention is not described in detail herein.

Before step S1, the method further includes opening the electric control cabinet 9, starting the motion controller 13, and detecting whether the motion controller 13, the driver 11, the motor 10, the first pressure sensor 17, the second pressure sensor 18, and the electromagnetic valve are working normally, and if a fault occurs, the method should be powered off to remove the fault, and then each unit is restarted.

And S2, controlling the motor 10 to run according to the trajectory plan, and judging the working condition of the load.

Specifically, a rotating shaft of the winch 5 is connected with a clutch 14, the clutch 14 is connected with a pump motor 15, the pump motor 15 is connected with an oil tank 16, a first pressure sensor 17 is connected with an outlet of the pump motor 15, a second sensor is connected with an inlet and an outlet of a hydraulic accumulator 19, and an electromagnetic valve is connected with the hydraulic accumulator 19 and an overflow valve 21; the outlet of the overflow valve 21 is connected to the tank 16, wherein the solenoid valve, the first pressure sensor 17 and the second sensor are all in communication with the motion controller 13.

The motion controller 13 sends the received track information to the driver 11, and the motor driver 11 drives the motor 10 to rotate, so as to drive the winding drum to rotate, realize the contraction of the rope, and control the motion of the end platform. The upper computer 12 can judge the rotating direction of the motor 10 through the rotating speed information of the motor 10 fed back by the motor driver 11,

on the basis of the foregoing embodiment, in an optional embodiment of the present invention, step S2 specifically includes step S21 to step S23.

And S21, controlling the motor 10 to run according to the trajectory plan, and judging the steering direction of the motor 10.

And S22, when the rotation direction of the motor 10 is judged to be positive, marking the working condition of the load to be ascending.

And S23, when the steering of the motor 10 is judged to be negative, marking the working condition of the load to be reduced.

Specifically, the working condition of the load can be directly judged through the steering of the motor 10, and the method has good practical significance.

S3, when the load condition is judged to be decreased, the electromagnetic valve is opened and the clutch 14 is connected so that the winch 5 retracts the hydraulic oil pressure in the oil tank 16 into the hydraulic accumulator 19 by the pump motor 15 to recover energy, and it is judged whether the pressure of the hydraulic accumulator 19 exceeds a predetermined value. When it is judged that the pressure of the hydraulic accumulator 19 exceeds the preset value, the solenoid valve is closed and the clutch 14 is opened.

Specifically, the motor 10 encoder feeds back the rotation speed information of the motor 10 to the motion controller 13, if the rotation speed is negative, the motor 10 rotates reversely, the working condition is a heavy object descending process, the motion controller 13 opens the electromagnetic valve to recover energy, if the pressure sensor reaches the peak value of the hydraulic accumulator 19, the hydraulic accumulator 19 is prevented from being damaged, and the motion controller 13 closes the electromagnetic valve to disconnect the clutch 14.

And S4, judging whether the pressure of the hydraulic accumulator 19 is greater than a preset value when the working condition of the load is judged to be ascending. When the pressure of the hydraulic accumulator 19 is judged to be greater than the preset value, the electromagnetic valve is opened and the clutch 14 is connected, so that the hydraulic accumulator 19 drives the pump motor 15 to run, thereby assisting in driving the winch 5.

Specifically, if the energy in the hydraulic accumulator 19 needs to be released to assist the motor 10 to work, the motion controller 13 opens the electromagnetic valve, connects the clutch 14, at this time, the pump motor 15 rotates the auxiliary motor 10 to work, and controls the rotating speed of the motor 10 through the motion controller 13 until the pressure sensor reflects that the energy in the hydraulic accumulator 19 is insufficient, and presses the clutch 14 to recover the energy again when waiting for the next working condition of weight lowering.

Example III,

On the basis of the foregoing embodiment, in an optional embodiment of the present invention, the operating condition determining module specifically includes:

and the steering judgment unit is used for controlling the motor to run according to the trajectory plan and judging the steering of the motor.

And the first working condition identification unit is used for identifying the working condition of the load to be ascending when the motor is judged to be in positive rotation.

And the second working condition identification unit is used for identifying the working condition of the load to be reduced when the motor is judged to be negative in steering.

Example four,

In the embodiments provided in the embodiments of the present invention, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus and method embodiments described above are illustrative only, as the flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

In addition, the functional modules in the embodiments of the present invention may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

The functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solution of the present invention or a part thereof which substantially contributes to the prior art may be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes. It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. An energy recovery rope robot is characterized by comprising a control assembly, a carrying assembly and at least two power assemblies; the carrying assembly is used for being engaged with a load so as to drive the load to move;

the power assembly comprises a T-shaped groove platform (2), a winch (5), a supporting column (1) jointed with the T-shaped groove platform (2), a guide pulley (4) jointed with the supporting column (1), a sling (8) which passes through the guide pulley (4) and is respectively jointed with the winch (5) and the carrying assembly at two ends, and a motor (10) jointed with the winch (5), a driver (11) electrically connected to the motor (10), a clutch (14) connected to the winch (5), a pump motor (15) connected to the clutch (14), an oil tank (16) and an electric control valve (20) respectively connected to an inlet and an outlet of the pump motor (15), a hydraulic accumulator (19) connected to the electric control valve (20), and a pressure sensor connected between the pump motor (15) and the hydraulic accumulator (19);

The control assembly comprises an upper computer (12) and a motion controller (13) electrically connected to the upper computer (12); the motion controller (13) is electrically connected to the driver (11), the pressure sensor and the solenoid valve.

2. The rope robot of claim 1, wherein the rope robot includes three of the power assemblies;

the carrying assembly comprises a carrying platform (6) and a hoisting part (7) arranged on the carrying platform (6); the hoisting part (7) is used for jointing the sling (8); the sling (8) is a steel wire rope.

3. The rope robot according to claim 1, characterized in that it further comprises a reinforcement assembly comprising cross beams (3) arranged between the supporting columns (1).

4. A cord robot according to claim 1, characterized in that the power assembly further comprises an overflow valve (21) engaged between the solenoid valve and the oil tank (16).

5. Rope robot according to claim 1, characterized in that the power assembly comprises a first pressure sensor (17) and a second pressure sensor (18); the first pressure sensor (17) is engaged between the pump motor (15) and the solenoid valve; the second pressure sensor (18) is coupled between the solenoid valve and the hydraulic accumulator (19).

6. Cord robot according to any of claims 1-5, characterized in that it further comprises an electric control cabinet (9); the electric control cabinet (9) is electrically connected with the motor (10), the driver (11) and the motion controller (13);

the electromagnetic valve is a two-position two-way proportional electromagnetic valve.

7. A method for controlling a rope robot for energy recovery, comprising:

acquiring a track plan of the rope robot;

controlling the motor to run according to the trajectory plan, and judging the working condition of the load;

when the working condition of the load is judged to be descending, the electromagnetic valve is opened and the clutch is connected, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic energy accumulator through the pump motor for energy recovery, and meanwhile, whether the pressure of the hydraulic energy accumulator exceeds a preset value is judged; when the pressure of the hydraulic accumulator exceeds a preset value, closing the electromagnetic valve and disconnecting the clutch;

when the working condition of the load is judged to be ascending, judging whether the pressure of the hydraulic accumulator is greater than a preset value or not; and when the pressure of the hydraulic accumulator is judged to be greater than the preset value, the electromagnetic valve is opened and the clutch is connected, so that the hydraulic accumulator drives the pump motor to run, and the winch is driven in an auxiliary mode.

8. The control method of claim 7, wherein controlling the motor to operate according to the trajectory plan and determining the operating condition of the load comprises:

controlling the motor to run according to the trajectory plan, and judging the steering of the motor;

when the steering of the motor is judged to be positive, the working condition of the load is increased;

and when the steering of the motor is judged to be negative, the working condition of the load is reduced.

9. An energy recovery rope robot control device, comprising:

the track acquisition module is used for acquiring the track plan of the rope robot;

the working condition judgment module is used for controlling the motor to run according to the trajectory plan and judging the working condition of the load;

the first execution module is used for opening the electromagnetic valve and connecting the clutch when the working condition of the load is judged to be reduced, so that the hoisting mechanism retracts the hydraulic oil in the oil tank into the hydraulic energy accumulator through the pump motor for energy recovery, and meanwhile, whether the pressure of the hydraulic energy accumulator exceeds a preset value is judged; when the pressure of the hydraulic accumulator exceeds a preset value, closing the electromagnetic valve and disconnecting the clutch;

the second execution module is used for judging whether the pressure of the hydraulic accumulator is greater than a preset value or not when the working condition of the load is judged to be ascending; and when the pressure of the hydraulic accumulator is judged to be greater than the preset value, the electromagnetic valve is opened and the clutch is connected, so that the hydraulic accumulator drives the pump motor to run, and the winch is driven in an auxiliary mode.

10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus on which the computer-readable storage medium is located to perform the rope robot control method according to claim 7 or 8.