CN114750143B

CN114750143B - Rope robot for energy recovery, control method and device thereof, and storage medium

Info

Publication number: CN114750143B
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: 2023-09-26
Anticipated expiration: 2042-05-24
Also published as: CN114750143A

Abstract

The embodiment of the application provides a rope robot for energy recovery, a control method and a control device thereof and a storage medium, and relates to the technical field of parallel robots. Wherein such a rope robot comprises a control assembly, a handling assembly and at least two power assemblies. The power assembly comprises a T-shaped groove platform, a winch, a support column connected with the T-shaped groove platform, a guide pulley connected with the support column, a sling with two ends respectively connected with the winch and the carrying assembly, a motor and a clutch connected with the winch, a driver electrically connected with the motor, a pump motor connected with the clutch, an oil tank and an electric control valve respectively connected with an inlet and an outlet of the pump motor, a hydraulic accumulator connected with the electric control valve, and a pressure sensor connected between the pump motor and the hydraulic accumulator. The control assembly is electrically connected to the driver, the pressure sensor and the electrically controlled valve. Potential energy of the rope robot in the falling process of the heavy objects is recovered, the electric energy consumption of a motor is reduced, and the energy utilization rate and the working efficiency of the whole device are improved.

Description

Rope robot for energy recovery, control method and device thereof, and storage medium

Technical Field

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

Background

Cargo handling is of great importance in the industries of processing lines, packaging and palletizing, machine manufacturing and the like, and the lifting machinery currently plays a main role of heavy cargo handling, such as a portal crane, a wheel crane and the like, but the handling precision depends on the proficiency of operators.

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

In view of the above, the applicant has studied the prior art and has made the present application.

Disclosure of Invention

The application provides a rope robot for energy recovery, a control method and a control device thereof and a storage medium, so as to solve the technical problems.

A first aspect,

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

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

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

A second aspect,

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

S1, acquiring track planning of the rope robot.

S2, controlling the motor to run according to the track planning, and judging the working condition of the load.

And S3, when the working condition of the load is judged to be declining, opening the electric control valve and connecting the clutch, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic accumulator through the pump motor to recover energy, and judging whether the pressure of the hydraulic accumulator exceeds a preset value. And when the pressure of the hydraulic accumulator exceeds the preset value, closing the electric control valve and opening the clutch.

And S4, when the working condition of the load is judged to be rising, judging whether the pressure of the hydraulic accumulator is larger than a preset value. When the pressure of the hydraulic accumulator is judged to be larger than a preset value, the electric control 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.

A third aspect,

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

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

And the working condition judging module is used for controlling the motor to run according to the track planning and judging the working condition of the load.

And the first execution module is used for opening the electric control valve and connecting the clutch when judging that the working condition of the load is descending, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic accumulator through the pump motor to recover energy, and judging whether the pressure of the hydraulic accumulator exceeds a preset value. And when the pressure of the hydraulic accumulator exceeds the preset value, closing the electric control valve and opening 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. When the pressure of the hydraulic accumulator is judged to be larger than a preset value, the electric control 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.

A fourth aspect,

Embodiments of the present application provide a computer-readable storage medium. The computer readable storage medium comprises a stored computer program, wherein the computer program is arranged to control a device in which the computer readable storage medium is located to perform the method of controlling a rope robot according to any one of the second aspects.

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

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

In order to make the above objects, features and advantages of the present application more 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 application, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an isometric view of a rope robot provided by a first embodiment of the present application;

fig. 2 is a top view of the rope robot provided by the first embodiment of the application;

fig. 3 is a control schematic diagram of a rope robot provided in a first embodiment of the present application;

fig. 4 is a flow chart of a control method according to a second embodiment of the present application.

The marks in the figure: 1-supporting columns, 2-T-shaped groove platforms, 3-cross beams, 4-guide pulleys, 5-windlass, 6-carrying platforms, 7-hoisting parts, 8-slings, 9-electric control cabinets, 10-motors, 11-drivers, 12-upper computers, 13-motion controllers, 14-clutches, 15-pump motors, 16-oil tanks, 17-first pressure sensors, 18-second pressure sensors, 19-hydraulic accumulators, 20-electric control valves and 21-overflow valves.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

For a better understanding of the technical solution of the present application, the following detailed description of the embodiments of the present application refers to the accompanying drawings.

The terminology used in the embodiments of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this application 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 one relationship describing the association of the associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.

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

References to "first\second" in the embodiments are merely to distinguish similar objects and do not represent a particular ordering for the objects, it being understood that "first\second" may interchange a particular order or precedence where allowed. It is to be understood that the "first\second" distinguishing aspects may be interchanged where appropriate, such that the embodiments described herein may be implemented in sequences other than those illustrated or described herein.

The application is described in further detail below with reference to the attached drawings and detailed description:

embodiment one:

referring to fig. 1 to 3, a first embodiment of the present application provides an energy recovery robot including a control assembly, a carrying assembly, and at least two power assemblies. The carrying assembly is used for being engaged with the load to drive the load to move.

The power assembly comprises a T-shaped groove platform 2, a winch 5, a supporting column 1 connected to the T-shaped groove platform 2, a guide pulley 4 connected to the supporting column 1, a sling 8 which passes through the guide pulley 4 and is respectively connected with the winch 5 and the carrying assembly at two ends, a motor 10 connected to 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. Preferably, the motor 10 and the clutch 14 are respectively coupled to the rotation shaft of the hoist 5.

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 actuator 11, the pressure sensor and the electrically controlled valve 20. Preferably, the rope robot further comprises an electric control cabinet 9. The electric control cabinet 9 is electrically connected to 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 is fixed with the bottom of the support column 1 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 at the top of the support column 1; the three servo motors 10 and the drivers 11 are arranged below the support column 1 and connected with the winch 5, the rotation of the motors 10 drives the rotation of the winch 5, the steel wire rope is wound on the winch 5, and the steel wire rope is connected with the lifting ring of the carrying platform 6 through the 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 the expected planning 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 instruction 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 through real-time feedback of the actual rotating speed of the motor 10; the winch 5 is connected with a clutch 14 through a rotating shaft, 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 electric control valve 20 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 the proportional electromagnetic valve are all connected with a motion controller 13 to form communication.

According to the rope robot capable of recovering energy, disclosed by the embodiment of the application, the hoist rope 8 is used for replacing a rigid connecting rod of a traditional parallel robot, so that the manufacturing cost is reduced, the robot working space is increased, the advantages of strong loading capacity and high precision are maintained, the platform is convenient to disassemble and reorganize, and the mechanism structure can be changed according to different working environments. The heavy object transportation operation can be automatically completed according to the track planning. The real-time communication is formed by connecting the upper computer 12, the controller, the motor driver 11, the motor 10, the winding drum and the tail end carrying platform 6, different tracks can be planned according to different working conditions, and the cargo carrying operation can be automatically completed with high precision.

The driving unit is additionally provided with a hydraulic system (a pump motor 15 and a hydraulic accumulator 19) so as to recover potential energy in the descending process of heavy objects, and the recovered energy can be used for assisting the motor 10 in driving operation, 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.

As shown in fig. 1 and 2, in an alternative embodiment of the present application, the rope robot includes three power assemblies, based on the above-described embodiments. Specifically, the cross beam 3 is a steel frame cross beam 3. The three power components enclose a triangle, and the rope robot is used for moving the carrying component within the triangle range.

It should be noted that, in other embodiments, the number of the power assemblies may be four or five, which is not limited in particular by the present application.

Preferably, the handling assembly comprises a handling platform 6 and a lifting part 7 arranged on the handling platform 6. The lifting portion 7 is used to engage a sling 8. The sling 8 is a steel wire rope. In this embodiment, the handling component adopts a platform manner for placing the load, and in other embodiments, the handling component may adopt a hook manner for hoisting the load, and the specific structure of the handling component is not limited in the present application.

As shown in fig. 3, in an alternative embodiment of the present application, based on the above embodiment, the power assembly further includes a relief valve 21 coupled between the electronic control valve 20 and the 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 electronically controlled valve 20. The second pressure sensor 18 is coupled between an electrically controlled valve 20 and a hydraulic accumulator 19. Specifically, the electric control valve 20 is a two-position two-way proportional solenoid valve.

Embodiment II,

The embodiment of the application provides a control method of an energy recovery rope robot, which can be executed by a possible energy recovery rope robot, in particular by one or more processors in the rope robot, to realize steps S1 to S4.

S1, acquiring track 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 plan is 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, the actual rotating speed information can be obtained by the motor 10 with the 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 carrying track is planned according to the working condition requirement, which belongs to the prior art and is not repeated in the application.

Before step S1, the electronic control cabinet 9 is opened, the motion controller 13 is started, whether the motion controller 13, the driver 11, the motor 10, the first pressure sensor 17, the second pressure sensor 18 and the electronic control valve 20 work normally or not is detected by electrifying, and if the failure occurs, the units are restarted after the failure is removed by outage.

S2, controlling the motor 10 to run according to the track planning, and judging the working condition of the load.

Specifically, the rotating shaft of the winch 5 is connected with the clutch 14, the clutch 14 is connected with the pump motor 15, the pump motor 15 is connected with the oil tank 16, the first pressure sensor 17 is connected with the outlet of the pump motor 15, the second sensor is connected with the inlet and outlet of the hydraulic accumulator 19, and the electric control valve 20 is connected with the hydraulic accumulator 19 and the overflow valve 21; the outlet of the relief valve 21 is connected to the tank 16, wherein the electrically controlled valve 20, the first pressure sensor 17 and the second sensor are 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 that the winding drum is driven to rotate, the contraction of the rope is realized, and the motion of the tail end platform is controlled. 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 above embodiment, in an alternative embodiment of the present application, step S2 specifically includes S21 to step S23.

S21, controlling the motor 10 to run according to the track planning, and judging the steering of the motor 10.

S22, when the steering of the motor 10 is judged to be positive, the working condition of the load is marked to be rising.

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

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

And S3, when the working condition of the load is judged to be descending, the electric control valve 20 is opened, the clutch 14 is connected, so that the winch 5 mechanism retracts the hydraulic oil pressure in the oil tank 16 into the hydraulic accumulator 19 through the pump motor 15 to recover energy, and meanwhile, whether the pressure of the hydraulic accumulator 19 exceeds a preset value is judged. When it is determined that the pressure of the hydraulic accumulator 19 exceeds the preset value, the electronic control valve 20 is closed and the clutch 14 is opened.

Specifically, the encoder of the motor 10 feeds back the rotation speed information of the motor 10 to the motion controller 13, if the rotation speed is negative, the motor 10 reverses, and at the moment, the working condition is a heavy object descending process, the motion controller 13 opens the electric control valve 20 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, the motion controller 13 closes the electric control valve 20, and the clutch 14 is disconnected.

And S4, when the working condition of the load is judged to be rising, judging whether the pressure of the hydraulic accumulator 19 is larger than a preset value. When it is judged that the pressure of the hydraulic accumulator 19 is greater than the preset value, the electric control valve 20 is opened and the clutch 14 is connected so that the hydraulic accumulator 19 drives the pump motor 15 to operate, thereby assisting in driving the hoist 5.

Specifically, if the energy in the hydraulic accumulator 19 is released to assist the motor 10 to work, the motion controller 13 opens the electric control valve 20 to connect the clutch 14, at this time, the pump motor 15 rotates the auxiliary motor 10 to work, and the rotation speed of the motor 10 is controlled by the motion controller 13 until the pressure sensor reflects the shortage of the energy in the hydraulic accumulator 19, presses the clutch 14, and recovers the energy when waiting for the next heavy object descending working condition.

Third embodiment,

And the first execution module is used for opening the electric control valve 20 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 accumulator through the pump motor to recover energy, and judging whether the pressure of the hydraulic accumulator exceeds a preset value. And when the pressure of the hydraulic accumulator exceeds the preset value, closing the electric control valve and opening the clutch.

Based on the foregoing embodiment, in an optional embodiment of the present application, the working condition determining module specifically includes:

and the steering judging unit is used for controlling the motor to run according to the track planning and judging the steering of the motor.

And the first working condition identification unit is used for identifying that the working condition of the load is rising when judging that the steering of the motor is positive.

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

Fourth embodiment,

In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus and method embodiments described above are merely illustrative, for example, flow diagrams 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 application. 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, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.

The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, an electronic device, or a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other 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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. The rope robot for energy recovery 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) and a winch (5), a support column (1) connected to the T-shaped groove platform (2), a guide pulley (4) connected to the support column (1), a sling (8) passing through the guide pulley (4) and respectively connected to the winch (5) and the carrying assembly at two ends, a motor (10) connected to 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), and 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 with the upper computer (12); the motion controller (13) is electrically connected to the actuator (11), the pressure sensor and the electrically controlled valve (20).

2. The rope robot for energy recovery of claim 1, said rope robot comprising three of said 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 of energy recovery according to claim 1, characterized in that the rope robot further comprises a reinforcement assembly comprising a cross beam (3) arranged between the support columns (1).

4. The rope robot of claim 1, characterized in that the power assembly further comprises a relief valve (21) coupled between the electrically controlled valve (20) and the oil tank (16).

5. The rope robot of claim 1, characterized in that the power assembly comprises a first pressure sensor (17) and a second pressure sensor (18); -said first pressure sensor (17) is coupled between said pump motor (15) and said electrically controlled valve (20); the second pressure sensor (18) is coupled between the electrically controlled valve (20) and the hydraulic accumulator (19).

6. The rope robot of energy recovery according to any one of claims 1-5, characterized in that 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);

the electric control valve (20) is a two-position two-way proportional electromagnetic valve.

7. A control method of a rope robot for energy recovery, for controlling the rope robot for energy recovery according to any one of claims 1 to 6, comprising:

acquiring a track plan of the rope robot;

controlling the operation of the motor according to the track planning, and judging the working condition of the load;

when the working condition of the load is judged to be declining, the electric control 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 to recover energy, and meanwhile, whether the pressure of the hydraulic accumulator exceeds a preset value is judged; when the pressure of the hydraulic accumulator exceeds a preset value, closing an electric control valve and disconnecting a clutch;

when the working condition of the load is judged to be rising, judging whether the pressure of the hydraulic accumulator is larger than a preset value or not; when the pressure of the hydraulic accumulator is judged to be greater than a preset value, the electric control 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;

controlling the motor to run according to the track planning, and judging the working condition of the load, including:

controlling the motor to run according to the track planning, 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 rising;

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

8. A control device of a rope robot for energy recovery, for controlling the rope robot for energy recovery according to any one of claims 1 to 6, comprising:

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

the working condition judging module is used for controlling the operation of the motor according to the track planning and judging the working condition of the load;

the first execution module is used for opening the electric control valve and connecting the clutch when judging that the working condition of the load is descending, so that the hoisting mechanism retracts the hydraulic oil pressure in the oil tank into the hydraulic accumulator through the pump motor to recover energy, and judging whether the pressure of the hydraulic accumulator exceeds a preset value or not; when the pressure of the hydraulic accumulator exceeds a preset value, closing an electric control valve and disconnecting a 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 rising; when the pressure of the hydraulic accumulator is judged to be greater than a preset value, the electric control 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 working condition judging module specifically comprises:

the steering judging unit is used for controlling the motor to run according to the track planning and judging the steering of the motor;

the first working condition identification unit is used for identifying the working condition of the load to be rising when judging that the steering of the motor is positive;

9. A computer readable storage medium, characterized in that the computer readable storage medium comprises a stored computer program, wherein the computer program, when run, controls a device in which the computer readable storage medium is located to perform the method of controlling a rope robot according to claim 7.